Difference between revisions of "S22: Road Runner"

Revision as of 00:02, 13 April 2022

1 Road Runner
2 Abstract
- 2.1 Introduction
- 2.2 Team Members & Responsibilities
3 Schedule
4 Parts List & Cost
5 Printed Circuit Board
6 CAN Communication
- 6.1 Hardware Design
- 6.2 DBC File
7 Sensor ECU
8 Motor ECU
9 Geographical Controller
10 Communication Bridge Controller & LCD
11 Master Module
12 Mobile Application
13 Conclusion

Road Runner

Abstract

<2-3 sentence abstract>

Introduction

The project was divided into 5 modules:

Bridge and Sensor Controller
Motor Controller
Driver / LCD Controller
Android app interface

Team Members & Responsibilities

Road Runner Firmware: GitLab Repo

Team Members:

Dhruv Choksi
Jonathan Doctolero
Tudor Donca
Hisaam Hashim
Saicharan Kadari
Kyle Kwong

Project Subteams:

Bridge and Sensor Controller:
- Tudor Donca
- Saicharan Kadari

Motor Controller:
- Dhruv Choksi
- Hisaam Hashim

Geological Controller:
- Kyle Kwong
- Jonathan Doctolero
- Saicharan Kadari

Bridge and LCD Controller:
- Hisaam Hashim
- Kyle Kwong

Android Application:
- Jonathan Doctolero
- Tudor Donca

Integration Testing:
- Tudor Donca
- Dhruv Choksi
- Hisaam Hashim
- Saicharan Kadari
- Kyle Kwong
- Jonathan Doctolero

Schedule

Week#	Start Date	End Date	Task	Status
1	03/06/2022	03/12/2022	Read previous projects, gather information and discuss among the group members. Discuss each team-member's preference and assign controller roles Create parts list for the RC car, discuss, and decide on each item	Completed
2	03/13/2022	03/19/2022	Design interface for Bridge and Sensor Controller, with unit tests Design interface for Motor Controller, with unit tests Design interface for Driver and LCD Controller, with unit tests Integrate Bridge/Sensor Controller to CAN bus with DBC, handling messages Integrate Motor Controller to CAN bus with DBC, handling messages Integrate Driver Controller to CAN bus with DBC, handling messages Order all parts from list and save tracking/price info	Completed
3	03/20/2022	03/26/2022	Connect Sensor, Motor, and Driver controller together on CAN bus and verify messages Connect all nodes together on the CAN bus, connect android app, verify messages across all nodes Design interface for Geological Controller, with unit tests Design basic android app connection and communication	In Progress
4	03/27/2022	04/02/2022	Integrate Geological Controller to CAN bus with DBC, handling messages Integrate Android app with Bridge/Sensor controller, sending/receiving messages both ways Integrate Motor and Steering with PWM control, figure out the working ranges Integrate Bluetooth module to Bridge/Sensor controller, with UART logic Connect Android app to Bridge/Sensor controller, send test message All parts received
5	04/03/2022	04/09/2022	Connect all nodes together on the CAN bus, connect android app, verify messages across all nodes Android app can send coordinates to Bridge controller Integrate RPM sensor and add processing in the Motor controller Milestone - All Modules Considered "Roughly Working" with hardware interfaced
6	04/10/2022	04/16/2022	Milestone - Basic car driving ability with basic obstacle avoidance
7	04/17/2022	04/23/2022	Milestone - Integrated, reliably "heading" towards destination bearing, basic obstacle avoidance Milestone - First Demo (Apr. 19)
8	04/24/2022	04/30/2022	Milestone - Second Demo (Apr. 26)
9	04/01/2022	04/07/2022	Milestone - Final Demo (May. 3)

Parts List & Cost

Item#	Part Description	Vendor	Qty	Cost
1	RC Car	Redcat [1]	1	$153.00
2	CAN Transceivers	Various	6	$55
3	Ultrasonic Sensors	Max Botix[2]	2	$87.00
4	Adafruit Bluetooth UART Tranceiver	Adafruit[3]	1	$33.90
5	GPS Module and Antenna	Adafruit[4][5]	1	$59.50
6	Compass Module	Adafruit[6]	1	$29.00
7	Traxxas RPM Sensor	Traxxas[7]	1	$12
8	Discrete Electronic Components	Generic[8]	1	$

Printed Circuit Board

CAN Communication

Hardware Design

DBC File

Gitlab link to the RoadRunner DBC file

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 DRIVER MOTOR SENSOR_BRIDGE GEOLOGICAL

BO_ 100 MOTOR_CMD: 4 DRIVER
 SG_ MOTOR_steer_degrees : 0|9@1- (1,-45) [-45|45] "degrees" MOTOR
 SG_ MOTOR_speed_kph : 9|9@1- (0.1,-40.5) [-40.5|40.5] "kph" MOTOR

BO_ 101 MOTOR_STATUS: 4 MOTOR
 SG_ MOTOR_STATUS_steer_degrees : 0|9@1- (1,-45) [-45|45] "degrees" DRIVER
 SG_ MOTOR_STATUS_speed_kph : 9|9@1- (0.1,-40.5) [-40.5|40.5] "kph" DRIVER

BO_ 200 SENSOR_SONARS: 8 SENSOR_BRIDGE
 SG_ SENSOR_SONARS_left : 0|10@1+ (1,0) [0|500] "cm" DRIVER
 SG_ SENSOR_SONARS_right : 10|10@1+ (1,0) [0|500] "cm" DRIVER
 SG_ SENSOR_SONARS_middle : 20|10@1+ (1,0) [0|500] "cm" DRIVER
 SG_ SENSOR_SONARS_back : 30|10@1+ (1,0) [0|500] "cm" DRIVER

BO_ 201 GPS_DESTINATION: 8 SENSOR_BRIDGE
 SG_ GPS_DESTINATION_latitude : 0|28@1- (0.000001,-90.000000) [-90|90] "Degrees" GEOLOGICAL
 SG_ GPS_DESTINATION_longitude : 28|28@1- (0.000001,-180.000000) [-180|180] "Degrees" GEOLOGICAL

BO_ 350 GEO_STATUS: 8 GEOLOGICAL
 SG_ GEO_STATUS_COMPASS_HEADING : 0|12@1+ (1,0) [0|359] "Degrees" DRIVER,SENSOR_BRIDGE
 SG_ GEO_STATUS_COMPASS_BEARING : 12|12@1+ (1,0) [0|359] "Degrees" DRIVER,SENSOR_BRIDGE
 SG_ GEO_STATUS_DISTANCE_TO_DESTINATION : 24|24@1+ (1,0) [0|0] "Meters" DRIVER,SENSOR_BRIDGE

BO_ 360 GEO_CURRENT_POSITION: 8 GEOLOGICAL
 SG_ GEO_CURRENT_POSITION_latitude : 0|28@1- (0.000001,-90.000000) [-90|90] "Degrees" DRIVER,SENSOR_BRIDGE
 SG_ GEO_CURRENT_POSITION_longitude : 28|28@1- (0.000001,-180.000000) [-180|180] "Degrees" DRIVER,SENSOR_BRIDGE 

CM_ BU_ DRIVER "The driver controller driving the car";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BU_ SENSOR_BRIDGE "The sensor and bluetooth bridge controller of the car";
CM_ BU_ GEOLOGICAL "The GPS and compass 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_ 100 1000;
BA_ "GenMsgCycleTime" BO_ 200 50;
BA_ "FieldType" SG_ 100 DRIVER_HEARTBEAT_cmd "DRIVER_HEARTBEAT_cmd";

VAL_ 100 DRIVER_HEARTBEAT_cmd 2 "DRIVER_HEARTBEAT_cmd_REBOOT" 1 "DRIVER_HEARTBEAT_cmd_SYNC" 0 "DRIVER_HEARTBEAT_cmd_NOOP" ;