S23: Meh-sla Automotive - Revision history

243 user2: /* Conclusion */

2023-05-27T04:18:00Z

‎Conclusion

243 user2: /* Advice for Future Students */

2023-05-27T04:06:27Z

‎Advice for Future Students

243 user2: /* Advice for Future Students */

2023-05-27T04:06:17Z

‎Advice for Future Students

243 user2: /* Technical Challenges */

2023-05-27T04:04:48Z

‎Technical Challenges

243 user2: /* Software Design */

2023-05-27T04:01:39Z

‎Software Design

243 user2: /* Software Design */

2023-05-27T03:15:32Z

‎Software Design

243 user2: /* Motor Module (motor.c) */

2023-05-27T03:10:18Z

‎Motor Module (motor.c)

243 user2: /* Motor Module (motor.c) */

2023-05-27T03:10:01Z

‎Motor Module (motor.c)

243 user2: /* Motor Module (motor.c) */

2023-05-27T03:07:03Z

‎Motor Module (motor.c)

243 user2: /* Block Diagram */

2023-05-27T02:56:59Z

‎Block Diagram

@@ Line 1,181: / Line 1,181: @@
 == Conclusion ==
-<Organized summary of the project>
+The Meh-Sla RC car came together because of the hard-work and determination of the entire team. Any more or fewer people would have taken away from the perfect team dynamic that led to each prototype miraculously working each following demo day. Everyone took charge of their system and made an active effort to work outside of class (and each weekend meet-up) to ensure their modules/functions/git contributions were working and communicated any issues on WhatsApp. It is difficult to manage the schedules of everyone's lives, especially considering out-of-school responsibilities, but the professor, Preet, provided a background and environment for students to transition away from just working on this project to ''enjoying'' this project.
 === What We Learned ===

@@ Line 1,207: / Line 1,207: @@
 ** This should NOT be the only time spent on the project! Everyone should be working throughout the week individually.
 * Don't over-engineer your code
-** DON'T FORGET GROUND FOR PWM/PCAN/POWER!!!
+* DON'T FORGET GROUND FOR PWM/PCAN/POWER!!!
 * Be the Best-sla that you can be!

@@ Line 1,207: / Line 1,207: @@
 ** This should NOT be the only time spent on the project! Everyone should be working throughout the week individually.
 * Don't over-engineer your code
 * Be the Best-sla that you can be!

@@ Line 853: / Line 853: @@
 === Technical Challenges ===
-< List of problems and their detailed resolutions>
+*''' Issue:''' Reverse was not working when sending a PWM signal between 10.0 and 15.0.
-<HR>
+*''' Issue:''' Proportional speed was not working as expected.
-<BR/>
+*''' Solution:''' Proportional can only work as well as it can without also implementing I and D. In our case, a fully-charged battery was a work-around.
 == Geological Controller ==

@@ Line 791: / Line 791: @@
 ===== RPM Module (rpm.c) =====
-The RPM module is difficult and complex at its core despite the simplicity of the application.
+The RPM module is difficult and complex at its core despite the simplicity of the application. The rpm__init() is a bit longer than other inits as a look into the lower level driver modules is needed to: turn on one of the LPC408X peripheral timers, in this case TIMER2, enable a timer counter with a prescalar divider of the clock__get_peripheral_clock_hz(), generate an interrupt on each event (every rotation of the Hall effect sensor), enable interrupts to call an ISR which resets the timer counter back to zero and reset the interrupt, and finally initialize pin P2.6 to the TIMER2 Capture.
-  void sonar_task(void *p) {
+  void rpm__init(void) {
-   Test
+  // TODO make const uints
+  }
 ===== Argh Module (argh.c) =====
-Tony will write about how the RPM module was implemented using triggers.
+The Argh module is simple, and pulls a signal from dbc_GEO_STATUS_s to determine the GEO_STATUS_DISTANCE_TO_DESTINATION. Based on how far away the RC car is from its location, the PWM signal to raise the flag will increase (raise) as the distance decreases. An additional argh__dance_seqeunce() was created for when the location has been reached, but not used as it utilizes delay()'s which span longer than the 10Hz periodic call (resetting the board). A future design can implement a binary semaphor outside of the periodic which sleeps until destination reaches zero, then calls this function from it's own dedicated module file. Pins P2.2 and P2.4 are used for each flag. Argh!
-  void sonar_task(void *p) {
+  void argh__servo_angle_pwm(dbc_GEO_STATUS_s *geo_status_s) {
-   Test
+  double percent_argh = 0.0;
+  }
 === Technical Challenges ===

@@ Line 762: / Line 762: @@
 ===== Steering Module (steering.c) =====
-Tony will write about the motor and how forward/reverse works
+The Steering module is very similar to the motor module, but simplified as there is no proportional control to account for. The Steering module takes in a signal, dbc_MOTOR_ANGLE_s and dbc_BRIDGE_APP_COMMANDS_s to control the angle from -45 to 45deg and turn the car on or off, respectively. If the phone application has the car turned ON, then a percent_angle is set in a global static variable to be used in steering__run_periodic_10Hz().
-  static float test_task(float lol) {
+Below is the main function to determine angle of the steering. The method returns a bool for if it is successful or not. This gives the can_handler information on whether the car is turned on or not to light up an LED.
-   Preet is cool;
-   if(Phil_is_reading) Phil is cooler;
+  bool steering__servo_angle_pwm(dbc_MOTOR_ANGLE_s *motor_angle_s) {
-   else Tony is the coolest
+  double percent_angle = 0.0;
+  }
 ===== RPM Module (rpm.c) =====
-Tony will write about how the RPM module was implemented using triggers.
+The RPM module is difficult and complex at its core despite the simplicity of the application.
   void sonar_task(void *p) {

@@ Line 740: / Line 740: @@
    double target_motor_speed = motor__calculate_proportional_speed(motor_speed_s->DC_MOTOR_DRIVE_SPEED_sig);
    is_reverse = false;
    if (car_on_off) {
      if (target_motor_speed > 15)

@@ Line 726: / Line 726: @@
   static double motor__calculate_proportional_speed(double target_speed) {
-   return (target_speed + (target_speed - rpm__get_speed())); // proportional control
+   return (target_speed + (target_speed - rpm__get_speed()));
+  }
   static double motor__calculate_motor_pwm(double speed_in_percent) {
    return neutral_speed_pwm + (max_speed_offset_pwm * speed_in_percent * max_speed_in_percent / 10000);
+  }

@@ Line 721: / Line 721: @@
 ===== Motor Module (motor.c) =====
-Tony will write about the motor and how forward/reverse works
+The motor module is simplistic and uses a signal, dbc_MOTOR_SPEED_s, from the Driver board to set the target speed in kph. Before determining what the PWM should be set to, a check for what the current speed is made by using a function from the rpm module, rpm__get_speed(). Then, a simple yet effective proportional algorithm is used to calculate the new target speed in kph. If the phone application has the car turned ON, then a speed_in_percent is set in a global static variable to be used in motor__run_periodic_10Hz(). Additionally, a check is made if the car is going in reverse, as there is a reverse sequence needed to move backward. A state machine could enhance this whole module, but the simplicity worked for our application.
-  static float test_task(float lol) {
+These static helpers calculate the proportional target speed and return a PWM double to control the motor speed. The motor__calculate_motor_pwm() function does not have a check for corner cases as the ESC is not fairly sensitive, and the bounds of what is returned never exceed 10.0 to 20.0 (the range of the ESC's PWM control).
-   Just wanted to see if this is cool;
+  }

@@ Line 696: / Line 696: @@
 ===== Block Diagram =====
-Below is the high-level block diagram of the Meh-Sla Motor Controller system. Originally, the Traxxas RC car came with a TQ Top Qualifier 2.4GHz radio system which gave the PWM signals to the motor controller and steering servo. We hijacked those signals and connected them to the SJ2 board's P2.1 and P2.0, both PWM pins, for the motor and steering, respectively.
+Below is the high-level block diagram of the Meh-Sla Motor Controller system. Originally, the Traxxas RC car came with a TQ Top Qualifier 2.4GHz radio system which gave the PWM signals to the motor controller and steering servo. We hijacked those signals and connected them to the SJ2 board's P2.1 and P2.0, both PWM pins, for the motor and steering, respectively. There are two other PWM pins used to control two flags: a pirate flag and a Meh-Sla flag. Without these flags, our drive to move forward in this project would have halted *wink wink*. Lastly, a RPM sensor (a Hall effect sensor) provides a trigger using a small magnet to P2.6 on the SJ2 board, which will affect the PWM speed sent to the ESC.
 [[File:MotorControllerBlockDiagram.jpg|500px|center|Motor Controller Block Diagram]]