Difference between revisions of "F17: Vindicators100"

Revision as of 00:04, 1 November 2017

Grading Criteria

How well is Software & Hardware Design described?
How well can this report be used to reproduce this project?
Code Quality
Overall Report Quality:
- Software Block Diagrams
- Hardware Block Diagrams
  Schematic Quality
- Quality of technical challenges and solutions adopted.

Project Title

Abstract

This section should be a couple lines to describe what your project does.

Objectives & Introduction

Show list of your objectives. This section includes the high level details of your project. You can write about the various sensors or peripherals you used to get your project completed.

Team Members & Responsibilities

Sameer Azer
- Project Lead
- Sensors
- Quality Assurance
Kevin Server
- Unit Testing Lead
- Control Unit
Delwin Lei
- Sensors
- Control Unit
Harmander Sihra
- Sensors
Mina Yi
- DEV/GIT Lead
- Drive System
Elizabeth Nguyen
- Drive System
Matthew Chew
- App
- GPS/Compass
Mikko Bayabo
- App
- GPS/Compass
Rolando Javier
- App
- GPS/Compass

Schedule

Show a simple table or figures that show your scheduled as planned before you started working on the project. Then in another table column, write down the actual schedule so that readers can see the planned vs. actual goals. The point of the schedule is for readers to assess how to pace themselves if they are doing a similar project.

Sprint#	End Date	Plan	Actual
1	10/10	App(HL reqs, and framework options); Master(HL reqs, and draft CAN messages); GPS(HL reqs, and component search/buy); Sensors(HL reqs, and component search/buy); Drive(HL reqs, and component search/buy);	App(Angular?); Master(Reqs identified, CAN architecture is WIP); GPS(UBLOX M8N); Sensors(Lidar: 4UV002950, Ultrasonic: HRLV-EZ0); Drive(Motor+encoder: https://www.servocity.com/437-rpm-hd-premium-planetary-gear-motor-w-encoder, Driver: Pololu G2 24v21, Encoder Counter: https://www.amazon.com/SuperDroid-Robots-LS7366R-Quadrature-Encoder/dp/B00K33KDJ2);
2	10/20	App(Further Framework research); Master(Design unit tests); GPS(Prototype purchased component: printf(heading and coordinates); Sensors(Prototype purchased components: printf(distance from lidar and bool from ultrasonic); Drive(Prototype purchased components: move motor at various velocities);	App(); Master(); GPS(); Sensors(); Drive();
3	10/30	App(Run a web server on ESP8266); Master(TDD Obstacle avoidance); GPS(Interface with compass); Sensors(Interface with Lidar); Drive(Interface with LCD Screen);	App(); Master(); GPS(); Sensors(); Drive();
4	11/10	App(Manual Drive Interface, Start, Stop); Master(Field-test avoiding an obstacle using one ultrasonic and Lidar); GPS(TDD Compass data parser, TDD GPS data parser, Write a CSV file to SD card); Sensors(Interface with 4 Ultrasonics [using chaining], Test power management chip current sensor, voltage sensor, and output on/off, Field-test avoiding an obstacle using 1 Ultrasonic); Drive(Servo library [independent from PWM Frequency], Implement quadrature counter driver);	App(); Master(); GPS(); Sensors(); Drive();
5	11/20	App(Send/receive GPS data to/from App); Master(Upon a "Go" from App, avoid multiple obstacles using 4 ultrasonics and a rotating lidar); GPS(TDD Compass heading and error, TDD GPS coordinate setters/getters, TDD Logging); Sensors(CAD/3D-Print bumper mount for Ultrasonics, CAD/3D-Print Lidar-Servo interface. Servo-Car interface); Drive(Implement a constant-velocity PID, Implement a PID Ramp-up functionality to limit in-rush current);	App(); Master(); GPS(); Sensors(); Drive();
6	11/30	App(App-Nav Integration testing: Send Coordinates from App to GPS); Master(Drive to specific GPS coordinates); GPS(App-Nav Integration testing: Send Coordinates from App to GPS); Sensors(Field-test avoiding multiple obstacles using Lidar & Ultrasonics); Drive(Interface with buttons and headlight);	App(); Master(); GPS(); Sensors(); Drive();
7	12/10	App(Full System Test w/ PCB); Master(Full System Test w/ PCB); GPS(Full System Test w/ PCB); Sensors(Full System Test w/ PCB); Drive(Full System Test w/ PCB);	App(); Master(); GPS(); Sensors(); Drive();
8	12/17	App(Full System Test w/ PCB); Master(Full System Test w/ PCB); GPS(Full System Test w/ PCB); Sensors(Full System Test w/ PCB); Drive(Full System Test w/ PCB);	App(Full System Test w/ PCB); Master(Full System Test w/ PCB); GPS(Full System Test w/ PCB); Sensors(Full System Test w/ PCB); Drive(Full System Test w/ PCB);

Parts List & Cost

Give a simple list of the cost of your project broken down by components. Do not write long stories here.

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.

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.

243.dbc

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_: DBG SENSORS CONTROL_UNIT DRIVE APP NAV

BO_ 100 COMMAND: 1 DBG
 SG_ ENABLE : 0|1@1+ (1,0) [0|1] "" DBG

BO_ 200 FRONT_SENSORS: 2 SENSORS
 SG_ ULTRASONIC_SENSOR : 0|12@1+ (1,0) [0|0] "mm" CONTROL_UNIT

BO_ 123 DRIVE_CMD: 3 CONTROL_UNIT
 SG_ steer_angle : 0|12@1- (0.1,0) [-45|45] "degrees" DRIVE
 SG_ speed : 12|6@1+ (0.1,0) [0|5] "mph" DRIVE
 SG_ direction : 18|1@1+ (1,0) [0|1] "" DRIVE
 SG_ headlights : 19|1@1+ (1,0) [0|1] "" DRIVE

BO_ 122 SENSOR_CMD: 2 CONTROL_UNIT
 SG_ lidar_zero : 0|16@1+ (0.1,0) [0|360] "degrees" SENSORS

BO_ 121 GPS_POS: 8 NAV
 SG_ ns_axis : 0|1@1+ (1,0) [0|1] "" APP
 SG_ latitude : 1|31@1+ (0.01,0) [0|90] "degrees" APP
 SG_ we_axis : 32|1@1+ (1,0) [0|1] "" APP
 SG_ longitude : 33|31@1+ (0.01,0) [0|180] "degrees" APP

BO_ 146 GPS_HEADING: 3 NAV
 SG_ current : 0|9@1+ (1,0) [0|359] "degrees" APP,CONTROL_UNIT
 SG_ projected : 10|9@1+ (1,0) [0|359] "degrees" APP,CONTROL_UNIT

BO_ 124 DRIVE_FEEDBACK: 1 DRIVE
 SG_ velocity : 0|6@1+ (0.1,0) [0|0] "mph" CONTROL_UNIT
 SG_ direction : 6|1@1+ (1,0) [0|1] "" CONTROL_UNIT

BO_ 243 APP_WAYPOINT: 8 APP
 SG_ ns_axis : 0|1@1+ (1,0) [0|1] "" CONTROL_UNIT
 SG_ latitude : 1|31@1+ (0.01,0) [0|90] "degrees" CONTROL_UNIT
 SG_ we_axis : 32|1@1+ (1,0) [0|1] "" CONTROL_UNIT
 SG_ longitude : 33|31@1+ (0.01,0) [0|180] "degrees" CONTROL_UNIT

CM_ BU_ DBG "Debugging entity";
CM_ BU_ DRIVE "Drive System";
CM_ BU_ SENSORS "Sensor Suite";
CM_ BU_ APP "Communication to mobile app";
CM_ BU_ CONTROL_UNIT "Central command board";
CM_ BU_ NAV "GPS and compass";

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_ 256 10;
BA_ "GenMsgCycleTime" BO_ 512 10;
BA_ "GenMsgCycleTime" BO_ 768 500;
BA_ "GenMsgCycleTime" BO_ 1024 100;
BA_ "GenMsgCycleTime" BO_ 1280 1000;

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

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Include sub-sections that list out a problem and solution, such as:

<Bug/issue name>

Discuss the issue and resolution.

Conclusion

Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?

Project Video

Upload a video of your project and post the link here.

Project Source Code

Vindicators100 GIT LAB

References

Acknowledgement

Any acknowledgement that you may wish to provide can be included here.

References Used

List any references used in project.

Appendix

You can list the references you used.