S14: Virtual Dog - Revision history

Preet: /* Project Source Code */

2014-08-06T23:42:45Z

‎Project Source Code

Proj user16: /* Testing & Technical Challenges */

2014-05-25T06:58:40Z

‎Testing & Technical Challenges

Proj user16: /* Testing & Technical Challenges */

2014-05-25T06:53:36Z

‎Testing & Technical Challenges

Proj user16: /* Software Design */

2014-05-25T06:37:16Z

‎Software Design

Proj user16: /* Testing & Technical Challenges */

2014-05-25T06:37:10Z

‎Testing & Technical Challenges

Proj user16: /* Software Design */

2014-05-25T06:33:28Z

‎Software Design

Proj user16: /* Software Design */

2014-05-25T06:27:45Z

‎Software Design

Proj user16: /* Software Design */

2014-05-25T06:25:08Z

‎Software Design

Proj user16: /* Acknowledgement */

2014-05-25T06:03:15Z

‎Acknowledgement

Proj user16: /* Project Source Code */

2014-05-25T05:29:54Z

‎Project Source Code

@@ Line 543: / Line 543: @@
 === Project Source Code ===
-<p style="text-indent: 1em; width: 700px; text-align: justify;">
+*  [https://sourceforge.net/projects/sjsu/files/CmpE244_SJSU_S2014/ Sourceforge source code link]
 == References ==

@@ Line 472: / Line 472: @@
 <p style="text-indent: 1em; width: 700px; text-align: justify;">
 Values retrieved from sensor are not stable. So we required to develop an algorithm that will give stable values from sensor. It should also remove spikes. We experimented a lot with this regard and finally developed an algorithm that gives fairly stable value of sensor without hampering the performance. Following graphs shows the Experiment results:
 [[File:CmpE244_S14_vDog_actual_sensor.png|700px]]
 <br>
 [[File:CmpE244_S14_vDog_mean_sensor.png|700px]]
 <br>
 [[File:CmpE244_S14_vDog_median_sensor.png|700px]]
 </p>

@@ Line 469: / Line 469: @@
 == Testing & Technical Challenges ==
 <b>Motor Selection:</b><br>
 <i>Stepper Motor:</i><br>

@@ Line 334: / Line 334: @@
 <b>Motor Driver:</b>
 <br>
-In the Motor Driver task, the finite state machine is read for each entry of the sensor data. Based on the state machine the Robot decides on the direction to move. If the decision made is forward, then the front two wheels which are connected to the driver are made to move. This causes the device to move forward. If it is forward left, then the front left wheel’s speed is decreased. This causes the device to turn left. If it is forward right, then the front right wheel speed is decreased. This causes the device to turn left. If the decision made is reverse, the wheels are made to rotate in the opposite direction. If it is reverse left, then the back left wheel’s direction is opposite and the speed is decreased. This causes the device to turn reverse left. If it is reverse right, then the back right wheel’s direction rotates in the opposite direction and the speed is decreased. This causes the device to turn reverse right. With the help of all the decisions, the Robot can be made to rotate 360 degree making the Robot to detect the object’s range and moving in appropriate direction. Finally, after Robot has moved such that the object comes into the ZONE_2, all the state machines are reset. This loop occurs until there is an indicator received telling the Robot to stop.
+In the Motor Driver task, the finite state machine is read for each entry of the sensor data. Based on the state machine the Robot decides on the direction to move. If the decision made is forward, then the front two wheels which are connected to the driver are made to move. This causes the device to move forward. If it is forward left, then the front left wheel speed is decreased. This causes the device to turn left. If it is forward right, then the front right wheel speed is decreased. This causes the device to turn left. If the decision made is reverse, the wheels are made to rotate in the opposite direction. If it is reverse left, then the back left wheel direction is opposite and the speed is decreased. This causes the device to turn reverse left. If it is reverse right, then the back right wheel rotates in the opposite direction and the speed is decreased. This causes the device to turn reverse right. With the help of all the decisions, the Robot can be made to rotate 360 degree making the Robot to detect the object’s range and moving in appropriate direction. Finally, after Robot has moved such that the object comes into the ZONE_2, all the state machines are reset. This loop occurs until there is an indicator received telling the Robot to stop.
 </td>
 </tr>

@@ Line 470: / Line 470: @@
 == Testing & Technical Challenges ==
 <b>Motor Selection:</b><br>
-Stepper Motor:<br>
+<i>Stepper Motor:</i><br>
 <p style="text-indent: 1em; width: 700px; text-align: justify;">
 Initially we plan to use the Stepper motor with our DC motor so that we can control the position of our robot very precisely. As the servo motor that we plan to use is very heavy due to which our chassis weight get increased to a extreme level, and there is torque degradation at higher speed in stepper motor which is not desirable for our project so we plan to drop the use of stepper motor.<br>
 </p>
-Servo Motor:<br>
+<i>Servo Motor:</i><br>
 <p style="text-indent: 1em; width: 700px; text-align: justify;">
 Initially we plan to use the Servo motor instead of DC motor for our project so that we can provide a high torque to our robot wheels, but due to some disadvantage of servo motor like it continue to draw a high current when it is stuck at particular position make it undesirable for our project.<br>
 </p>
-DC Motor:<br>
+<i>DC Motor:</i><br>
 <p style="text-indent: 1em; width: 700px; text-align: justify;">
 Finally we select the DC motor instead of using Stepper motor and Servo Motor. There are some advantages of DC motor like they can run at very high RPM value, provide full rotation , continue to rotate until power is removed, can be easily controlled using PWM. This advantage of DC motor matches with the requirement of the motor that we are looking for our project.<br>
@@ Line 484: / Line 484: @@
 <b>Sensor Selection:</b><br>
-Nordic Wi-Fi:<br>
+<i>Nordic Wi-Fi:</i><br>
 <p style="text-indent: 1em; width: 700px; text-align: justify;">
 Initially we plan to use Nordic Wi-Fi present on our SJ One board to calculate the distance between robot and the object so that accordingly we can change the position of the robot. When we perform the experiment between two Nordic Wi-Fi and tried calculating the distance between them the outcome result were not favorable, we were getting negligible change in the value when we change the position of one Wi-Fi module with respect to other. The outcome results were not desirable for our project so we drop the idea of using the Wi-Fi module.<br>
 </p>
-Ultrasonic Sensor:<br>
+<i>Ultrasonic Sensor:</i><br>
 <p style="text-indent: 1em; width: 700px; text-align: justify;">
 After getting the undesirable result from Wi-Fi we plan to use ultrasonic sensor to calculate the distance between the object and robot. When we perform the experiment the outcome result were not favorable, though the range of ultrasonic sensor was too good but the beam angle it generates to detect the object which come under its range was too high due to which it was able to detect a large number of object, so we were not able to calculate the exact distance between the original object and the robot. So we plan to drop the idea of using Ultrasonic Sensor.<br>
 </p>
-Proximity Sensor:<br>
+<i>Proximity Sensor:</i><br>
 <p style="text-indent: 1em; width: 700px; text-align: justify;">
 We than plan to use the proximity sensor to calculate the distance between the object and robot. The proximity sensor we used to perform the experiment has a range of 20 cm to 150 cm, the outcome result from the experiment were favorable. We were able to calculate the exact distance between the robot and the object. So we decide to use the proximity sensor for our project  to calculate the distance between robot and object.<br>

@@ Line 323: / Line 323: @@
 <b>Sensor Driver:</b>
 <br>
-In the Sensor Driver Task, the sensor values from all the three proximity sensors are read. They are normalized by using calculating the mean of the previous 30 sensor values. Based on this, the object position is determined. If the object is located in the Zone 1 of the middle sensor, then the finite state machine is changed to reverse. The robot moves until the original position is achieved. If the object is located in the       Zone 3 and Zone 4 of the middle sensor, then finite state machine is moved to the Forward state which causes the robot to move forward. The left sensor detects the object if it is in Zone 1 and Zone 2. Based on the decision, the finite state machine is changed to reverse right. This moves the robot in the reverse right direction causing the direction of the robot to turn left. The right sensor detects the object if it is in Zone 1 and Zone 2, and the finite state machine is moved to the reverse left. This causes to change the direction of the robot to the right.  The left sensor detects the object if it is in Zone 3 and Zone 4. Based on the decision, the finite state machine is changed to forward left. This moves the robot in the forward and left direction causing the direction of the robot to turn left. The right sensor detects the object if it is in Zone 3 and Zone 4, and the finite state machine is moved to the forward right. This causes to change the direction of the robot to the right. Thus based on the sensor values, the next stage of the Finite State Machine is decided and moves to that particular state.
+In the Sensor Driver Task, the sensor values from all the three proximity sensors are read. They are normalized by using calculating the median of the previous 30 sensor values. Based on this, the object position is determined. If the object is located in the Zone 1 of the middle sensor, then the finite state machine is changed to reverse. The robot moves until the original position is achieved. If the object is located in the Zone 3 and Zone 4 of the middle sensor, then finite state machine is moved to the Forward state which causes the robot to move forward. If the left sensor detects the object  in Zone 1 and Zone 2, the finite state machine is changed to reverse right. This moves the robot in the reverse right direction causing the direction of the robot indirectly to turn left. If the right sensor detects the object in Zone 1 and Zone 2, and the finite state machine is moved to the reverse left. This causes to change the direction of the robot indirectly to the right. If the left sensor detects the object in Zone 3 and Zone 4, the finite state machine is changed to forward left. This moves the robot in the forward and left direction causing the direction of the robot to turn left. If the right sensor detects the object in Zone 3 and Zone 4, the finite state machine is moved to the forward right. This causes to change the direction of the robot to the right. Thus based on the sensor values, the next stage of the Finite State Machine is decided and robot is move to that particular zone.
 </td>
 </tr>

@@ Line 344: / Line 344: @@
 <b>Virtual DOG Android Application:</b>
 <br>
-The Android application helps in communicating with the Bluetooth Module. The Bluetooth module is RN- 42. This module is directly placed over the location over the zigbee module on the LPC board. Communication between the devices is full duplex. The Initiation and the Termination of the Robot is controlled from the Android application.
+The Android application helps in communicating with the Bluetooth module. The Bluetooth module is RN- 42. This module is directly placed in the location given for the zigbee module on the LPC board. Communication between the devices is full duplex. The initiation and the termination of the robot is controlled from the Android application.
 <br>
-On opening application, the Bluetooth has to be turned ON. There are two Buttons for turning the Bluetooth ON and OFF. For the Bluetooth to be turned ON, permissions are required from the Root User. If the authentication is performed, then the devices which are available in the range of the Bluetooth module are listed down using the discovery method of the device. The Module’s name is selected in the mobile. The devices are paired together using a key. The key provides the security feature over the transmission and reception.
+On opening the application, the Bluetooth has to be turned ON. There are two Buttons for turning the Bluetooth ON and OFF. For the Bluetooth to be turned ON, permissions is required from the User. If the authentication is performed, then the devices which are available in the range of the Bluetooth module are listed down using the discovery method of the device. The Module’s name is selected in the mobile. The devices are paired together using a key. The key provides the security feature over the transmission and reception.
 <br>
-There are two buttons. The ‘START’ and ‘STOP’ button which indicate the Robot to turn ON and OFF. This button is created in the XML. This language is used to build the UI functionalities. On clicking the START button, data is written to the Robot in order to indicate the Start status. The Robot starts sensing and sends the back the values along with the direction in which it moves. This is sent in the form as a metadata, so that the time taken for transmitting is less. This improves the performance. The Metadata which comprises of the sensor values and the direction is received until the stop button is pressed. A separate data is written for stopping the data. The Robot shuts down on receiving the data.
+There are two buttons. The ‘START’ and ‘STOP’ button which indicate the robot to turn ON and OFF. This button is created in the XML. This language is used to build the UI functionalities. On clicking the START button, data is written to the Robot in order to indicate the Start status. The robot starts sensing and send back the values along with the direction in which it moves. This is sent in the form of a metadata, so that the time taken for transmitting is less. This improves the performance. The Metadata which comprises of the sensor values and the direction is received until the stop button is pressed. A separate data is written for stopping the data. The robot stops on receiving this data.
 <br>
-In order to connect to the Robot faster, a separate list has been created which maintains the list of the paired devices. This will show the devices which were connected previously.
+In order to connect with the robot faster, a separate list has been created which maintains the list of the paired devices. This will show the devices which were connected previously.
 <br>
 There is a new fragment (page) created from the MainActivity which is created and the device is opened with that new fragment. On successful completion of the pairing, there are some threads which are made to run in the background. On creation of the instance of the new fragment page, a thread to read the data on the output stream runs as one of the background process. This buffer which is read should happen continuously until there is ‘\n’ or ‘\r’ character is read. If it read, then the data from the UART of the module is read.

@@ Line 310: / Line 310: @@
 </td>
 <td valign="top" align="justify" width=400px>
-<b>Startup Process:</b>
+<b>Initialization:</b>
 <br>
-On Start of the ROBOT, the ADC is initialised for the reading the data. This is used to calculate which zone the object lies. Based on this decision, the robot has to decide whether it should follow, stop or turn in any other direction. This is performed by initialising the PWM. If any other obstacle comes in between the range of the object and the robot, then the buzzer is activated and hence buzz sound is produced. The Bluetooth for the UART is initialised so that this is used for the communication between the Android application and ROBOT. With the help of the Application the Robot is started. This activates the sensor task so that data is read from all the three sensors. Based on the sensor readings and after the normalization of the data read, decision is made on which direction the Robot should move. Using the Motor Driver Task and with the help of the decision made, the motors are made to rotate in the appropriate direction. Finally, the values and the direction which are decided are sent to the Bluetooth task. This task functions in transmitting and receiving the data to the android application. This application also used to start and stop the robot.
+On start process mainly does the initialization job. It initializes ADC pins (P0.26, P1.31, P1.30) that are used by IR sensors. Then PWM pins P2.1 through P2.4 are initialized for motor driver. We use GPIO to sound the buzzer, so GPIO pin P1.23 is configured as output in the init process. We use Bluetooth to connect to android device. Bluetooth device is connected via UART2 on the board. So init process also contains code part to init UART2 for Bluetooth device. After everything is set, three tasks start running, viz., sensor task, motor task and Bluetooth task. Sensor task continuously reads the sensor values, normalizes them and invokes our algorithm/FSM. Motor task generates appropriate PWM signals based on the current FSM state. Bluetooth task communicates with Android Application.
 </td>
 </tr>

@@ Line 533: / Line 533: @@
 === Acknowledgement ===
 <p style="text-indent: 1em; width: 700px; text-align: justify;">
-The hardware components were made available from Amazon,Sparkfun, Adafruit. Thanks to Preetpal Kang for providing right guidance for our project.
+The hardware components were made available from Amazon, Sparkfun, Adafruit. Thanks to Preetpal Kang for providing right guidance for our project.
 </p>

@@ Line 527: / Line 527: @@
 === Project Source Code ===
 <p style="text-indent: 1em; width: 700px; text-align: justify;">
-Send me your zipped source code and I will upload this to SourceForge and link it for you.
+[sourceCode]
 </p>