Difference between revisions of "S23: CAN CLAN"

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=== Introduction ===
 
=== Introduction ===
  
−
The project was divided into N modules:
+
The project was divided into 5 modules:
  
−
* Sensor ...
+
* Sensor/Bridge Controller
−
* Motor..
+
* Motor Controller
−
* ...
+
* Geo Controller
−
* Android
+
* Driver/LCD Controller
 +
* Web Application
  
 
=== Team Members & Responsibilities ===
 
=== Team Members & Responsibilities ===

Revision as of 20:16, 11 May 2023

CAN CLAN

Final car.png 

Picture of the RC Car


Abstract

<2-3 sentence abstract>

Introduction

The project was divided into 5 modules:

  • Sensor/Bridge Controller
  • Motor Controller
  • Geo Controller
  • Driver/LCD Controller
  • Web Application

Team Members & Responsibilities

<Team Picture>

  • Final car.png

Gitlab Project Link - https://gitlab.com/rashmi_sv/the_CAN_clan.git

  • Final car.png

    • Rashmi Suhas Vaidya

    • Geo Controller
    • GPS and Compass Interfacing
    • Integration Testing
    • Wiki Page Update
  • Final car.png

    • Zeel Jatinkumar Lia

    • Motor Controller
    • RPM Sensor
    • Integration Testing
    • Wiki Page Update
  • Final car.png

    • Priyam Hajisheth

    • Driver Node
    • LCD interfacing
    • Integration Testing
    • Wiki Page Update
  • Final car.png

    • Xinyu He

    • Sensor Controller
    • Integration Testing
    • Wiki Page Update
    • Bluetooth integration with Sensor
  • Final car.png

    • Hongjin Cheng

    • Bluetooth module interfacing
    • Motor Controller
    • Android App
    • Integration Testing



    Schedule

    Week# Start Date End Date Task Status
    1 03/01/2023 03/07/2023
    • 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 03/08/2023 03/14/2023
    • Order all parts from list and save tracking/price info
    • Completed
    3 03/15/2023 03/21/2023
    • 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
    • All parts received
    • Completed
    4 03/22/2023 03/28/2023
    • Design interface for GEO Controller, with unit tests
    • Integrate Geological Controller to CAN bus with DBC, handling messages
    • Integrate Ultrasonic sensor with SJ2 to verify distance from obstacle is sensed
    • Integrate Motor and Steering with PWM control, figure out the working ranges
    • Integrate GPS sensor with SJ2, get GPGGA strings over UART, parse current coordinates
    • Completed
    5 03/29/2023 04/04/2023
    • Integrate Compass sensor with SJ2 board over I2C and get bearing values
    • Connect all nodes together on the CAN bus, verify messages across all nodes
    • Code the Haversine formula into GEO controller to get distance and heading based on current and destination coordinates
    • Write driver logic based on distance and heading from GEO and obstacle details from sensor nodes
    • Integrate GPS and Compass peripherals, writing the driver and unit tests
    • MILESTONE - All individual modules considered "Roughly Working" with hardware interfaced
    • Completed
    6 04/05/2023 04/11/2023
    • Finalize the DBC file for project
    • Create a detailed schedule for remaining tasks, dividing work into four milestones
    • Start RPM sensor logic implementation and add it to Motor controller
    • Integrate Bluetooth module to Bridge/Sensor controller, with UART logic
    • Work on integrating the MaxBotix ultrasonic sensor with the sensor module
    • Work on Stage-1 mounting of all components on the RC car with temporary fixing
    • Fix problem with BDC-DBF conversion on BusMaster and show graphs on it
    • MILESTONE - Basic car driving ability with basic obstacle avoidance
    • Incomplete
    7 04/12/2022 04/18/2022
    • Complete basic working Mobile App which connects to the bridge controller, sends a test message and receives sensor values
    • Work on calibrating compass sensor to get accurate bearing readings
    • Create a on-board battery power supply for all components
    • Work on Stage-2 mounting of all components on the RC car with soldering of parts and wires
    • Complete the Compass calibration and read accurate readings from it
    • Have PWM signals reliably controlling the motor speed
    • Start working on reliable navigation with obstacle avoidance
    • MILESTONE - Integrated, reliably "heading" towards provided destination bearing, basic obstacle avoidance
    • Incomplete
    8 04/19/2023 04/25/2023
    • Send fake destination coordinates from Mobile app and start and stop commands
    • Integrate LED display to the driver controller and show current heading, speed on it
    • Add a GPS Lock LED on the Geo controller
    • Add more LEDs on various SJ2 boards for more debug information for MIA, obstacle detection, etc
    • Work on getting the car pass the Ramp test
    • Work on Stage-3 permanent fixing of all components on the RC car
    • Outdoor testing for longer range trips, and complete necessary enhancements
    • MILESTONE - Integration part 2, perform obstacle avoidance and destination bearing
    • Incomplete
    9 04/26/2023 05/02/2023
    • Integrate Google Maps on Mobile App for destination coordinates
    • Show debug information (GPS Coordinates, Sensor Values, Values from Compass, Calculated Distance, Motor Speed) on App and LED screen
    • Work on getting the car to pass the U-turn test
    • Verify that the electrical and mechanical work is complete
    • MILESTONE - Integration and outdoor testing, adding necessary software changes
    • Incomplete
    10 05/03/2023 05/09/2023
    • Work on On/Off Button - power button to start the car
    • Enable the Headlights to the car
    • Work on robustness of the car, perform corner test cases in actual runs of the car
    • Start working on report writing of the project
    • MILESTONE - Integration testing, deal with uneven terrain, reliable waypoints navigation and obstacle avoidance
    • Incomplete
    11 05/10/2023 05/16/2023
    • Finish project report writing
    • Full System Testing, any needed Hardware and software fixes and optimizing
    • Incomplete
    11 05/24/2023 05/24/2023
    • Final Project Demo Day
    • Incomplete


    Parts List & Cost

    Item# Part Description Vendor Qty Cost
    1 Redcat [] 1 $
    2 SN65HVD23 CAN Transceivers Waveshare[1] 5 $
    3 HRLV-EZ0 Ultrasonic Sensors [] 3 $
    4 [] 1 $17.50
    5 [] 1 $59.50
    6 [] 1 $33.18
    7 [] 1 $5.99
    9 [] 1 $7.00


    Printed Circuit Board

    <Picture and information, including links to your PCB>


    CAN Communication

    <Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.>

    Hardware Design

    <Show your CAN bus hardware design>

    DBC File

    Gitlab link to our DBC file : https://gitlab.com/rashmi_sv/the_CAN_clan/-/blob/dev/dbc_file/dbc/project.dbc

    <You can optionally use an inline image>



    Sensor ECU

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>


    Motor ECU

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>


    Geographical Controller

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>



    Communication Bridge Controller & LCD

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>


    Master Module

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>


    Mobile Application

    <Picture and link to Gitlab>

    Hardware Design

    Software Design

    <List the code modules that are being called periodically.>

    Technical Challenges

    < List of problems and their detailed resolutions>




    Conclusion

    <Organized summary of the project>

    <What did you learn?>

    Project Video

    Project Source Code

    Advise for Future Students

    <Bullet points and discussion>

    Acknowledgement

    === References ===

    Retrieved from "http://socialledge.com/sjsu/index.php?title=S23:_CAN_CLAN&oldid=70210"