S16: Autonomous Lane Changer - Revision history

Proj 146u1: /* Conclusion */

2016-05-24T04:34:36Z

‎Conclusion

Proj 146u1: /* Conclusion */

2016-05-24T04:28:47Z

‎Conclusion

Proj 146u1: /* Parts List & Cost */

2016-05-24T04:24:43Z

‎Parts List & Cost

Proj 146u1: /* Parts List & Cost */

2016-05-24T04:24:23Z

‎Parts List & Cost

Proj 146u1: /* Software Design */

2016-05-24T04:23:34Z

‎Software Design

Proj 146u1: /* Parts List & Cost */

2016-05-24T04:22:44Z

‎Parts List & Cost

Proj 146u1: /* Conclusion */

2016-05-24T04:22:14Z

‎Conclusion

Proj 146u1: /* Issue #4 */

2016-05-24T04:20:31Z

‎Issue #4

Proj 146u1: /* Issue #3 */

2016-05-24T04:20:10Z

‎Issue #3

Proj 146u1: /* Issue #4 */

2016-05-24T04:20:06Z

‎Issue #4

← Older revision		Revision as of 04:34, 24 May 2016
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	The self-driving RC car project was completed successfully. The team was able to implement the two major features, lane following and lane changing. The self-driving RC car required two SJSUOne boards and 6 IR emitter and receivers. The team first tested sensors to see if it was able to read the white lanes on a black board. Once finding the clearance of the sensor and the lanes, assembling the RC car was a simple task. Programming the algorithm for following white lanes and changing lanes was a little tougher. Because the RC car had three sensors on each side, we had to figure out how hard each wheel had to turn to straighten out the RC car to have the sensors read the white lane again. Once we figured out how to follow lanes, both straight and curved, we had to figure out how the car should change lanes. Professor Preet gave us the idea to use the Nordic wireless capability our SJone boards had. Using his advice, we initialized 1 board as a transmitter and the board on the RC car as a receiver. In order for the car to change lanes, we had to send a signal from the transmitter to the RC car. Initializing the wireless was pretty straightforward, but the lane changing algorithm we created was quite difficult. Overall, we were able to successfully create an autonomous car capable of following lane lines and changing lanes when necessary.		The self-driving RC car project was completed successfully. The team was able to implement the two major features, lane following and lane changing. The self-driving RC car required two SJSUOne boards and 6 IR emitter and receivers. The team first tested sensors to see if it was able to read the white lanes on a black board. Once finding the clearance of the sensor and the lanes, assembling the RC car was a simple task. Programming the algorithm for following white lanes and changing lanes was a little tougher. Because the RC car had three sensors on each side, we had to figure out how hard each wheel had to turn to straighten out the RC car to have the sensors read the white lane again. Once we figured out how to follow lanes, both straight and curved, we had to figure out how the car should change lanes. Professor Preet gave us the idea to use the Nordic wireless capability our SJone boards had. Using his advice, we initialized 1 board as a transmitter and the board on the RC car as a receiver. In order for the car to change lanes, we had to send a signal from the transmitter to the RC car. Initializing the wireless was pretty straightforward, but the lane changing algorithm we created was quite difficult. Overall, we were able to successfully create an autonomous car capable of following lane lines and changing lanes when necessary.
		+
		+	This project ultimately gave us tremendous experience working with microcontrollers in the embedded environment. Despite this project being quite difficult, considering we are only beginners in embedded systems, it was satisfying to be able to create and complete an embedded project. We felt this was the best course in both our undergraduate careers, and we now feel inspired to pursue a career in the embedded field.

	=== Project Video ===		=== Project Video ===

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 == Conclusion ==
-The self-driving RC car project was completed successfully. The team was able to implement the two major features, lane following and lane changing. The self-driving RC car required two SJSUOne boards and 6 IR emitter and receivers. The team first tested sensors to see if it was able to read the white lanes on a black board. Once finding the clearance of the sensor and the board assembling the RC car was a simple task however programming the algorithm for following white lanes and changing lanes was a little tougher. Because the RC car had three sensors on each side, we had to figure out how hard each wheel had to turn to straighten out the RC car to have the sensors read the white lane again. This project taught us how to interface 6 analog sensors with only 3 analog pins on the SJSUOne board.
+The self-driving RC car project was completed successfully. The team was able to implement the two major features, lane following and lane changing. The self-driving RC car required two SJSUOne boards and 6 IR emitter and receivers. The team first tested sensors to see if it was able to read the white lanes on a black board. Once finding the clearance of the sensor and the lanes, assembling the RC car was a simple task. Programming the algorithm for following white lanes and changing lanes was a little tougher. Because the RC car had three sensors on each side, we had to figure out how hard each wheel had to turn to straighten out the RC car to have the sensors read the white lane again. Once we figured out how to follow lanes, both straight and curved, we had to figure out how the car should change lanes. Professor Preet gave us the idea to use the Nordic wireless capability our SJone boards had. Using his advice, we initialized 1 board as a transmitter and the board on the RC car as a receiver. In order for the car to change lanes, we had to send a signal from the transmitter to the RC car. Initializing the wireless was pretty straightforward, but the lane changing algorithm we created was quite difficult. Overall, we were able to successfully create an autonomous car capable of following lane lines and changing lanes when necessary.
 === Project Video ===

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+|
 | Total Cost
-| $221.02
+| $226.02
 |}

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 | $0.49
 |-
-| 1
+| 2
 | Light colored masking tape
-| $5.00
+| $10.00
 |-
 | 30

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 === Software Design ===
 '''RC Car Flowchart'''
 [[File:CmpE146_S16_Jatrick_CarFlowChart.jpg|600px|thumb|center|RC Car Sensor Reading & Motor Control Flowchart]]

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 | PN2222 Transistor
 | Free
 |-
+|
 | Total Cost
-| $212.03
+| $221.02
 |}

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 === Issue #4 ===
-When coding the conditions to turn hard left and hard right, we initially reversed the PWM set values in each motor assuming the motors would turn at exactly the same speed. It was during these tests that we realized that the right motor was a lot weaker than the left motor. After figuring this out, we had to boost the PWM values in the right motor during certain turns. Although it seemed like an easy fix, constant tests of the RC car had to be executed until we found the perfect PWM values.
+The last issue we had was when coding the conditions to turn hard left and hard right, we initially reversed the PWM set values in each motor assuming the motors would turn at exactly the same speed. It was during these tests that we realized that the right motor was a lot weaker than the left motor. After figuring this out, we had to boost the PWM values in the right motor during certain turns. Although it seemed like an easy fix, constant tests of the RC car had to be executed until we found the perfect PWM values.
 == Conclusion ==

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 === Issue #3 ===
-Another issue we ran into was the condition when the RC car detected no lane lines. Often times when turning, the car wouldn't follow the lane lines perfectly and would eventually veer off course. In instances like these, we wanted to make sure the car knew what direction it was turning last so it could continue turning that direction until lanes were detected again. We solved this issue by including a static int variable. If the car was turning either slight left or hard left, we set the static int to 1 to signify that it was turning left last. If the car was turning slight right or hard right, we set the static int to 0 to signify that it was turning right last. The reason we used a static int variable was because its ability to keep its value after each function call. If we used a regular variable, when the task loops again, the variable would lose its value, thus the car would not know which direction it was turning last.
+The third issue we ran into was the condition when the RC car detected no lane lines. Often times when turning, the car wouldn't follow the lane lines perfectly and would eventually veer off course. In instances like these, we wanted to make sure the car knew what direction it was turning last so it could continue turning that direction until lanes were detected again. We solved this issue by including a static int variable. If the car was turning either slight left or hard left, we set the static int to 1 to signify that it was turning left last. If the car was turning slight right or hard right, we set the static int to 0 to signify that it was turning right last. The reason we used a static int variable was because its ability to keep its value after each function call. If we used a regular variable, when the task loops again, the variable would lose its value, thus the car would not know which direction it was turning last.
 === Issue #4 ===