Difference between revisions of "F16: AutoNav"
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[[File:Cmpe243_F2016_AutoNav_OverallProjectFlow.png|700px|centre|thumb|Android and Bluetooth Controller Flow Chart]] | [[File:Cmpe243_F2016_AutoNav_OverallProjectFlow.png|700px|centre|thumb|Android and Bluetooth Controller Flow Chart]] | ||
| + | |||
| + | ===Description=== | ||
| + | |||
| + | Assuming the car would be given the necessary connections and be powered up to navigate, we would give the first signal to start the car from the Bluetooth device by sending a start signal of "1". Once the Start signal is received by the Master controller, it would receive the signals from the sensors and the GPS as well. | ||
| + | Based on the data from all these systems, Master controller decides the command to be given to the Motor controller. Motor on receiving the instructions from the Master would move in a particular direction suggested by Master. Motor would also revert the path in which it is going, RPM values to Master, Bluetooth and LCD display over the CAN. | ||
| + | Meanwhile the Bluetooth would be fetching the messages from the CAN and would filter out on the messages by their ID's and later send the required signals such as GPS and RPM values to the Android device, which is displayed to the user in their respective text boxes. | ||
== Sensor Controller == | == Sensor Controller == | ||
Revision as of 05:47, 17 December 2016
Contents
- 1 Project Title
- 2 Abstract
- 3 Objectives & Introduction
- 4 Team Members & Responsibilities
- 5 Schedule
- 6 Parts List & Cost
- 7 DBC File Implementation
- 8 Design & Implementation
- 9 Sensor Controller
- 10 Motor & I/O Controller
- 11 Bluetooth and Bridge(Android) Connections
- 12 Geographical Controller
- 13 Master Controller
- 14 Testing & Technical Challenges
- 15 Conclusion
- 16 References
Project Title
- Autonomous RC Car
Abstract
This project report describes an attempt to develop an autonomous RC car which navigates from a source point to destination avoiding any obstacles in between. The project was divided into five modules namely Motor & Input/output Controller, Sensor Controller, Geo Controller, Communication Bridge & Android Controller and Master Controller, each performing specific set of tasks. Each of the five modules were established using SJOne Boards. Communication between all the five modules was established using CAN Bus.
- Motor & I/O Controller - This controller was responsible for driving Brushless DC Motor interfaced through ESC, driving the stepper motor for steering and displaying the status of the RC car (speed, obstacle distance etc.) on the LCD.
- Sensor Controller - This controller was responsible for obstacle detection and avoidance, interfacing done with Ultrasonic Ping Sensors.
- Geo Controller - This controller focused on providing orientation (heading and bearing) and navigation route to the car.
- Communication Bridge & Android Controller - Co-ordinates for navigation were provided by this controller using an android application. Communication was established via Bluetooth.
- Master Controller - This controller was responsible for collecting the data from all the controllers, develop and implement obstacle avoidance algorithm to guide the car towards the final destination.
Objectives & Introduction
The main objectives of this project include:
- To develop an autonomous RC Car.
- To navigate from a set source to destination.
- To avoid any obstacles in between.
- To establish all communication between controllers via CAN bus.
The following peripherals of LPC 1758 were used to establish communications:
- CAN Peripheral: Communicate between all the controllers on a common CAN bus.
- UART Peripheral: Communicate between GEO Controller and GPS module, Bluetooth controller and Bluetooth module.
- GPIO: Communicate between sensors and sensor controller.
- PWM: Vary the speed of Brushless DC motor and Stepper motor via ESC interfaced through Motor Controller.
Team Members & Responsibilities
Sensor Controller:
- Vishwanath Balakuntla Ramesh
Motor & I/O Controller:
- Sameer Saran
- Jaswanth Bhimanapalli
Bluetooth (Communication Bridge) & Android Controller:
- Sucharitha
- Karthikeya Rao G V
Geographical Controller:
- Arpita Ramanath
- Veena Manasa Kanakamalla
Master Controller:
- Ajai Krishna Velayutham
- Goutam Madhukeshwar Hegde
Schedule
Consolidated Team Schedule
| SI No. | Start Date | End Date | Task | Status | Actual Completion Date |
|---|---|---|---|---|---|
| 1 | 09/13/2016 | 09/27/2016 |
|
Completed | 09/26/2016 |
| 2 | 09/27/2016 | 10/11/2016 |
|
Completed | 10/11/2016 |
| 3 | 10/12/2016 | 10/18/2016 |
|
Completed | 10/20/2016 |
| 4 | 10/19/2016 | 10/30/2016 |
|
Completed | 11/01/2016 |
| 5 | 10/31/2016 | 11/08/2016 |
|
Completed | 11/12/2016 |
| 6 | 11/09/2016 | 11/27/2016 |
|
Completed | 11/29/2016 |
| 7 | 11/27/2016 | 12/15/2016 |
|
In Progress |
Parts List & Cost
| Item# | Part Description | Vendor | Qty | Cost |
|---|---|---|---|---|
| 1 | RC Car | RChobby Explosion | 1 | $190 |
| 2 | RC Car Battery | Amazon | 1 | $27.29 |
| 3 | CAN Transceiver | Texas Instruments | 15 | Free |
| 4 | M-F,F-F,M-M Jumper Wires | Amazon | 120 | 7.97 |
| 5 | Printed Circuit Boards | Amazon | 1 | $9.72 |
| 6 | Ultrasonic Parallax Ping Sensor | Fry's Electronics | 3 | $98.85 |
| 7 | 9 DOF Razor IMU module | SparkFun | 1 | $74.95 |
| 8 | Bluetooth Module | Amazon | 1 | $9.99 |
| 9 | GPS Sensor | Adafruit | 1 | $44.38 |
| 10 | Black/White line detection sensor - RPM sensor | Amazon | 1 | $10.10 |
| 11 | SJOne Boards | From Preet | 5 | $400 |
| 12 | LCD | 4D systems | 1 | $111 |
DBC File Implementation
DBC files are widely used to define the system of CAN messages and their constituent signals. This allows CAN data to be accessed in terms of human-usable signal values, with different data types and scaling, instead of just raw message bytes. Below is the DBC file that we implemented in our project.
VERSION "" NS_ : BA_ BA_DEF_ BA_DEF_DEF_ BA_DEF_DEF_REL_ BA_DEF_REL_ BA_DEF_SGTYPE_ BA_REL_ BA_SGTYPE_ BO_TX_BU_ BU_BO_REL_ BU_EV_REL_ BU_SG_REL_ CAT_ CAT_DEF_ CM_ ENVVAR_DATA_ EV_DATA_ FILTER NS_DESC_ SGTYPE_ SGTYPE_VAL_ SG_MUL_VAL_ SIGTYPE_VALTYPE_ SIG_GROUP_ SIG_TYPE_REF_ SIG_VALTYPE_ VAL_ VAL_TABLE_ BS_: BU_: DRIVER BLUETOOTH SENSOR MOTOR GEO BO_ 100 KILL_SWITCH: 1 DRIVER SG_ killSwitch : 0|1@1+ (1,0) [0|0] "Stop=1" MOTOR BO_ 110 STOP_CMD: 1 BLUETOOTH SG_ BLUETOOTH_STOP_CMD_signal : 0|1@1+ (1,0) [0|0] "Stop=1" DRIVER BO_ 120 MOTOR_SYNC: 1 MOTOR SG_ Motor_Sync : 0|1@1+ (1,0) [0|0] "MotorSync=1" DRIVER BO_ 130 GEO_SYNC: 1 GEO SG_ Geo_sync_cmd : 0|1@1+ (1,0) [0|0] "GeoSync=1" DRIVER BO_ 140 BLUETOOTH_SYNC_CMD: 1 BLUETOOTH SG_ BLUETOOTH_SYNC_CMD_signal : 0|1@1+ (1,0) [0|0] "BluetoothSync=1" DRIVER BO_ 150 SENSOR_SYNC: 1 SENSOR SG_ Sensor_Sync : 0|1@1+ (1,0) [0|0] "SensorSync=1" DRIVER,MOTOR,BLUETOOTH BO_ 160 ERROR_COMM_DRIVER: 1 DRIVER SG_ Sync_Miss_Info : 0|8@1+ (1,0) [0|0] "ErrorMsgType" MOTOR BO_ 170 DRIVER_SYNC_ACK: 1 DRIVER SG_ Sync_Miss_Info : 0|1@1+ (1,0) [0|0] "DriverSync=1" MOTOR,BLUETOOTH,SENSOR,GEO BO_ 180 MOTOR_CONTROL: 2 DRIVER SG_ steer : 0|8@1+ (1,0) [0|0] "DirectionType" MOTOR SG_ speed : 8|8@1+ (1,0) [0|0] "SpeedType" MOTOR BO_ 181 MOTOR_RPS: 2 MOTOR SG_ Rps_Sensor : 0|8@1+ (1,0) [0|0] "RotationsPerSecondENum" DRIVER,BLUETOOTH SG_ Rps_Value : 8|8@1+ (1,0) [0|0] "RotationsPerSecondValue" BLUETOOTH,DRIVER BO_ 190 SENSOR_SONAR: 5 SENSOR SG_ Sensor_Sonar_Front : 0|8@1+ (1,0) [0|0] "FrontDistance" DRIVER,MOTOR,BLUETOOTH SG_ Sensor_Sonar_FrontRight : 8|8@1+ (1,0) [0|0] "FRightDistance" DRIVER,MOTOR,BLUETOOTH SG_ Sensor_Sonar_FrontLeft : 16|8@1+ (1,0) [0|0] "FLeftDistance" DRIVER,MOTOR,BLUETOOTH SG_ Sensor_Sonar_Back : 24|8@1+ (1,0) [0|0] "BackDistance" DRIVER,MOTOR,BLUETOOTH BO_ 200 GEO_SEND_LOCATION: 8 GEO SG_ Geo_latitude : 0|27@1+ (0.000001,0) [0|0] "latitude" DRIVER,BLUETOOTH,MOTOR SG_ Geo_longitude : 27|27@1+ (0.000001,0) [0|0] "longitude" DRIVER,BLUETOOTH,MOTOR BO_ 210 GEO_SEND_HD_BR: 8 GEO SG_ Geo_heading : 0|29@1+ (0.000001,0) [0|360] "" DRIVER,MOTOR SG_ Geo_bearing : 29|29@1+ (0.000001,0) [0|360] "" DRIVER,MOTOR BO_ 220 NAVIGATION_WAYPOINT: 2 BLUETOOTH SG_ Bluetooth_CurrWaypoint : 0|5@1+ (1,0) [0|0] "CurrentWaypointNumber" DRIVER,GEO SG_ Bluetooth_NumWaypoint : 5|5@1+ (1,0) [0|0] "NumberOfWaypoints" DRIVER,GEO BO_ 250 LATITUDE_LONGITUDE: 8 BLUETOOTH SG_ Bluetooth_latitude : 0|32@1+ (0.000001,-90.000000) [-90|90] "latitude" DRIVER,GEO SG_ Bluetooth_longitude : 32|32@1+ (0.000001,-180.000000) [-180|180] "longitude" DRIVER,GEO BO_ 230 START_CMD: 1 BLUETOOTH SG_ BLUETOOTH_START_CMD_signal : 0|8@1+ (1,0) [0|0] "" DRIVER BO_ 240 SENSOR_BATTERY: 8 SENSOR SG_ Sensor_Battery_Voltage : 0|8@1+ (0.1,0) [0|0] "Volts" DRIVER,MOTOR,BLUETOOTH SG_ Sensor_Battery_SOC : 8|10@1+ (0.1,0) [0|0] "Percent" DRIVER,MOTOR,BLUETOOTH SG_ Sensor_Light : 18|10@1+ (0.1,0) [0|0] "LightPercentValue" DRIVER,MOTOR,BLUETOOTH SG_ Sensor_Tilt_X : 28|12@1+ (0.1,0) [0|0] "TiltValueX" DRIVER,MOTOR,BLUETOOTH SG_ Sensor_Tilt_Y : 40|12@1+ (0.1,0) [0|0] "TiltValueY" DRIVER,MOTOR,BLUETOOTH BO_ 500 DRIVER_TEST: 1 DRIVER SG_ Driver_Test_Msg : 0|8@1+ (1,0) [0|0] "" MOTOR,GEO,SENSOR,BLUETOOTH BO_ 600 MOTOR_TEST: 1 MOTOR SG_ Motor_Test_Msg : 0|8@1+ (1,0) [0|0] "" DRIVER,GEO,SENSOR,BLUETOOTH BO_ 700 SENSOR_TEST: 1 SENSOR SG_ Sensor_Test_Msg : 0|8@1+ (1,0) [0|0] "" DRIVER,MOTOR,GEO,BLUETOOTH BO_ 800 GEO_TEST: 1 GEO SG_ Geo_Test_Msg : 0|8@1+ (1,0) [0|0] "" DRIVER,MOTOR,SENSOR,BLUETOOTH BO_ 900 BLUETOOTH_TEST: 1 BLUETOOTH SG_ Bluetooth_Test_Msg : 0|8@1+ (1,0) [0|0] "" DRIVER,MOTOR,GEO,SENSOR CM_ BU_ DRIVER "The DRIVER controller driving the car"; CM_ BU_ MOTOR "The motor controller of the car"; CM_ BU_ SENSOR "The sensor controller of the car"; CM_ BU_ GEO "The geo controller of the car"; CM_ BU_ BLUETOOTH "The bridge controller of the car"; CM_ BO_ 100 "Sync message used to synchronize the controllers"; BA_DEF_ "BusType" STRING ; BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0; BA_DEF_ SG_ "FieldType" STRING ; BA_DEF_DEF_ "BusType" "CAN"; BA_DEF_DEF_ "FieldType" ""; BA_DEF_DEF_ "GenMsgCycleTime" 0; BA_ "GenMsgCycleTime" BO_ 500 10; BA_ "FieldType" SG_ 180 steer "steer"; BA_ "FieldType" SG_ 180 speed "speed"; BA_ "FieldType" SG_ 181 Rps_Sensor "Rps_Sensor"; BA_ "FieldType" SG_ 190 Sensor_Sonar_Front "Sensor_Sonar_Front"; BA_ "FieldType" SG_ 190 Sensor_Sonar_FrontRight "Sensor_Sonar_FrontRight"; BA_ "FieldType" SG_ 190 Sensor_Sonar_FrontLeft "Sensor_Sonar_FrontLeft"; BA_ "FieldType" SG_ 190 Sensor_Sonar_Back "Sensor_Sonar_Back"; VAL_ 190 Sensor_Sonar_Front 3 "far_f" 2 "mid_f" 1 "near_f" 0 "danger_f" ; VAL_ 190 Sensor_Sonar_FrontRight 2 "far_fr" 1 "mid_fr" 0 "near_fr" ; VAL_ 190 Sensor_Sonar_FrontLeft 2 "far_fl" 1 "mid_fl" 0 "near_fl" ; VAL_ 190 Sensor_Sonar_Back 2 "far_b" 1 "mid_b" 0 "near_b" ; VAL_ 180 steer 4 "right" 3 "sright" 2 "sleft" 1 "left" 0 "straight" ; VAL_ 180 speed 4 "brake" 3 "reverse" 2 "normal" 1 "slow" 0 "stop" ; VAL_ 181 Rps_Sensor 2 "high" 1 "equal" 0 "low" ;
Design & Implementation
The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.
Project Flow is as viewed in the Image below
Description
Assuming the car would be given the necessary connections and be powered up to navigate, we would give the first signal to start the car from the Bluetooth device by sending a start signal of "1". Once the Start signal is received by the Master controller, it would receive the signals from the sensors and the GPS as well. Based on the data from all these systems, Master controller decides the command to be given to the Motor controller. Motor on receiving the instructions from the Master would move in a particular direction suggested by Master. Motor would also revert the path in which it is going, RPM values to Master, Bluetooth and LCD display over the CAN. Meanwhile the Bluetooth would be fetching the messages from the CAN and would filter out on the messages by their ID's and later send the required signals such as GPS and RPM values to the Android device, which is displayed to the user in their respective text boxes.
Sensor Controller
Team Members:
Vishwanath Balakuntla Ramesh
Hardware Design
We used 3 Parallax Ping ultrasonic distance sensors for obstacle detection and avoidance. Non-contact distance can be measured from about 2 cm (0.8 inches) to 3 meters (3.3 yards).
The PING))) sensor works by transmitting an ultrasonic burst and providing an output pulse that corresponds to the time required for the burst echo to return to the sensor. By measuring the echo pulse width, the distance to target can easily be calculated.
Three sensors were placed in front (front_left, front_center, front_right).
Hardware Interface
In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.
Parralax Ping Sensor Operation
Software Design
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| Task Name | Purpose | ||||
|---|---|---|---|---|---|
| Period Init | Can bus initialization | Enable LPC timer | Initialize LPC timer | Initialize rising edge GPIO interrupt | Initialize falling edge GPIO interrupt |
| Periodic 1Hz Callback | Check can bus off | ||||
| Periodic 10Hz Callback | Get and Send Sensor Data |
Implementation
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Motor & I/O Controller
Team Members:
Sameer Saran Jaswanth Bhimanapalli
Hardware Design
Discuss your hardware design here. Show detailed schematics, and the interface here.
Hardware Interface
In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.
Software Design
Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.
Implementation
This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.
Bluetooth and Bridge(Android) Connections
Team Members:
Sucharitha Sirigreddy Karthikeya Rao GV
This section includes high level implementation details regarding the Android app connectivity with the Bluetooth module of the RC car. It gives a overview of building the android app, communication between the Bluetooth and Android app on a mobile device, routing mechanisms during the navigation.
Hardware Design
Discuss your hardware design here. Show detailed schematics, and the interface here.
Bluetooth Controller Pin Connections
| Node A Source | Node A Pin | Node B Source | Node B Pin | Description |
|---|---|---|---|---|
| Power Supply | 3.3V | SJOne Board | 3V3 | SJOne Power |
| Power Supply | GND | SJOne Board | GND | SJOne Ground |
| CAN Transceiver | CAN Tx | SJOne Board | P0.1 (Tx) | SJOne - CAN Tx |
| CAN Transceiver | CAN Rx | SJOne Board | P0.0 (Rx) | SJOne - CAN Rx |
| Bluetooth Module | TXD | SJOne Board | RXD3 | SJOne RX3- Bluetooth module TXD |
| Bluetooth Module | RXD | SJOne Board | TXD3 | SJOne TX3- Bluetooth module RXD |
| Bluetooth Module | Bluetooth module VCC(3.3V) | Power Supply | 3.3V | Bluetooth module - Power supply 3.3V |
| Bluetooth Module | Bluetooth module GND | Power Supply | GND | Bluetooth module - Power supply GND |
Below attached is the image of the Bluetooth Module HC-06.
Hardware Interface
In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.
Software Design
Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.
Below is the representation of the bridge communication.
Flow Chart:
Flow Chart of the Bluetooth and Android design is as follows.
Bluetooth Android Interface Commands
Android -Bluetooth Controller Communication Table
| Sl.No | Message ID | Destination | Message Name | Data Sent over CAN |
|---|
Implementation
This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.
Implementation Description:
Once the Car is ready, through the Android application the Bluetooth would be paired with HC-06 module on click of BTon button, which turns on the Bluetooth on the android phone and connects to Car’s HC-06 Bluetooth device. Post which, we would send a start signal from the app, which would sync and start the car. This signal is hardcoded as ‘1’, and is encoded before sending from the android. This signal when received from the Bluetooth module, would decode and read the message and later encode and pass it on over the CAN to the Master.
After this syncing, the Master would initiate other modules; post which GPS module would send the location signal over the CAN. This signal is again decoded and sent over to the Android as a line having latitude and longitude and prefixed and post-fixed with “#” and “!” , for easier identification in the Android. Location button would enable the current location of the device, which would be marked on the map, this would be enabled on click of start itself. This would also enable Bluetooth module to detect the messages over the CAN to be displayed on the app, like RPM values and GPS data. These are again encoded and sent over to Android, which would display them in respective text boxes.
Route Button on the app would be initiated once we set these and the source and destination by 2 clicks on the maps in the app and start getting the GPS location from HC-06. Route Button on click would detect the GPS location from the car and send out next way points till the destination. The Kill switch is implemented as Stop Button, which sends of “0” signal, which is received by the Bluetooth and sent over the CAN Bus to master, to stop the Motor.
Geographical Controller
Team Members:
Veena Manasa Kanakamalla Arpita Ramanath
Hardware Design
Discuss your hardware design here. Show detailed schematics, and the interface here.
Below attached are the images of GPS and IMU.
Hardware Interface
In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.
Software Design
Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.
Implementation
This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.
Master Controller
Team Members:
Ajai Krishna Velayutham Goutam Madhukeshwar Hegde
Master Controller Schedule
Hardware Design
Discuss your hardware design here. Show detailed schematics, and the interface here.
Hardware Interface
In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.
Software Design
Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.
Implementation
This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.
Testing & Technical Challenges
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My Issue #1
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Conclusion
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Project Video
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GitLab Source Code
References
Acknowledgement
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References Used
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Appendix
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