Difference between revisions of "F17: Rolling Thunder"

Sensor Controller

Motor/IO Controller

Geographical Controller

Central Controller

Communication Bridge + Android Application

QA

• Order components and distribute project modules.
• Research on project requirements.
• Research on different sensors to be used.

• Set up project Git and Wiki page.
• Understand the hardware specifications of each component.
• Study the datasheet of each component and the hardware interfacing.
• Test the compatibility of each module.

• Establish a connection over Bluetooth between the Android app and the BRIDGE.

• Test ultrasonic sensors (maxbotix and parallax ping) and identify the suitable one for front and rear.
• Verify basic commands to Traxxas motor, send basic commands (e.g. forward) to RC car from SJOne board.
• Configure GPS device baud rate and interface it with SJOne board using UART.
• Parse data received from GPS device to transmittable format.
• Analyse the communication required across the controllers.
• Chalk out the Message IDs based on the priority of the messages and the data to be sent across nodes.
• Understand DBC and implement the DBC file compatible with all the controllers.
• Transfer data from the Android app to the BRIDGE.

• Implement sensor code and perform standalone testing.
• Finish motor controller API. Test motor driving in different situations, begin to listen to CAN for controls.
• Interface motor to the SJOne board and check for basic functionality.
• Interface Compass and GPS module with SJOne board using I2C serial bus.
• Interface Geo controller module with CAN Bus.
• Establish communication across all the CAN controllers over CAN bus based on the DBC file.
• Verify the power-up interactions and configurations between Master and the other controllers
• Receive data in the Android app from the BRIDGE.

• Add an activity to the app for monitoring the CAN bus wirelessly.

• Filter sensor value readings and decide on incorporating the algorithm either in master controller or sensor controller based on performance testing
• Continue testing motor driver via commands from CAN bus.
• Build in speed steps to reverse motor for reverse to work correctly.
• Calibrate GPS and Compass Module.Develop code for GPS and Compass module communication over CAN .
• Add an activity to the app for navigating the vehicle manually.
• Send and recieve current location, destination and checkpoint coordinates to and from App and Ggeo module via Bridge.

Final Wiki Schedule

• Implement obstacle avoidance algorithm based on filtered sensor data
• Begin work on LCD to show vehicle status (speed, fuel status, obstacles, distance to destination etc.) in an intuitive GUI.
• Finish implementing speed control on motor (to make sure requested speed is met based on RPM read).
• Fine tune motor reversing.
• Integrate all modules with the Master to test the data flow.
• Fine tune obstacle avoidance steering logic with rear sensor input and reversing.
• Start incorporating Geo module information to master module steering logic.
• Decide implement and test data exchange between Geo module and Bridge.
• Calculate and send simple bearing angle and destination status on CAN to figure out initial challenges.
• Add Google Earth/Maps to the Android app for selecting the car's destination.
• Send car information status to app.
• Test each module individually
• Verify the stringent requirement of Start-up Sync, Periodic heart-beat messages.
• Start adding contents to the relevent sections of wiki.

• Test obstacle avoidance algorithm and fine tune sensor readings
• Test the LCD at run time for vehicle status and decide on improvements if any.
• Stabilize navigation logic with multiple checkpoints, bearing angle and destination status info.
• Identify and mitigate GPS locking, offset and other issues.
• Assure correctness of compass calibration.
• Determine if any more changes to DBC are required and lock it down.
• Implement the steering logic with bearing angle and status provided by geo-module.
• Consistantly communicate current car location to App, get check points from App and relay them to Geo module.
• Send additional vehicle status information from can bus to the app for display.
• Field test and check for obvious issues in obstacle avoidance, navigation, maintaining speed (up/down hill).
• Provide feed backs to each team on identified short comings.

• Analyse area lagging behind and redeploy team where additional resources are required.
• Implement turning indicators, break lights and head light.
• Improvise steering logic based on field tests under various conditions and locations.
• Analyse field test results to re-calberate GPS offset values if required.
• Complete the CAN information isplay activity of App.
• Test the accuracy of check-points from the Bluetooth controller, location data from the Geo-controller sensor and Navigation Algorithm.
• Check overall robustness of the complete system.

• Check for tuning or calibration of components if required.
• Complete end-to-end testing for various scenarios and conditions.

DEMO: Final Project

SUBMISSION: Project Report