Difference between revisions of "S24: Team Zero"

Revision as of 22:43, 21 May 2024

Project Title

TEAM ZERO

Abstract

Team Zero's Self driving RC car, as the name states, is an autonomous vehicle designed to navigate to a given specified destination successfully, avoiding obstacles along its way. The car's infrastructure is built upon four key components: the Driver, Sensor and Bridge, Geo, and Motor nodes, which communicate internally via a CAN Bus and with the user via a mobile app. The vehicle continuously senses and processes all the information from these nodes to make decisions to ensure it stays on course and reaches its destination. It is built on a hobby-grade RC car chassis, modified with the necessary components and adjustments to fulfill its primary objectives of autonomous navigation and obstacle avoidance.

Introduction

The project was divided into N modules:

• Geographical Controller and LCD
• Motor Controller
• Sensor-Bridge Controller
• Driver Controller
• Mobile Application

Team Members & Responsibilities

Gitlab Project Link - [1]

Cody Ourique [2]

• Geo controller
• Compass,GPS and LCD interfacing
• Hardware design, development and mounting
• LCD modules
• Unit Testing

Anusha Arunnandi [3]

• Bridge-Sensor controller
• Ultrasonic range finder and bluetooth interfacing
• Web application
• Unit Testing

Chaitanya Battula [4]

• Driver controller
• Motor controller
• RPM sensor, ESC, and servo motor interfacing
• Unit Testing

Rohit Duvvuru [5]

• Unit Testing

Schedule

Parts List & Cost

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 your DBC file> <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

Bluetooth - https://gitlab.com/Ouriquco/cmpe_243_team_zero/-/tree/SensorBridgeNode/projects/Sensor_Controller/l5_application/Bluetooth?ref_type=heads

The HC-05 Bluetooth module is a widely used and versatile wireless communication module that enables Bluetooth connectivity using its Serial Port Protocol. Key Features HC-05 Bluetooth Module:

Bluetooth Standard:

The HC-05 Bluetooth module operates on Bluetooth version 2.0 + EDR (Enhanced Data Rate), supporting reliable and efficient wireless communication.

Operating Modes:

The module can operate in both Master and Slave modes. In Slave mode, it can pair with other Bluetooth devices, while in Master mode, it can initiate connections.

Communication Range:

The HC-05 is classified as a Class 2 Bluetooth device, providing a communication range of approximately 10 meters (33 feet). This makes it suitable for short to medium-range applications.

Serial Communication:

It communicates with other devices using a serial communication interface, making it compatible with microcontrollers like Arduino. The module typically supports standard baud rates like 9600 bps.

AT Command Configuration:

The HC-05 Bluetooth module can be configured using AT commands, allowing users to customize various parameters such as the device name, pairing code, and operating mode.

Voltage Compatibility:

The module operates within a voltage range of 3.6V to 6V, making it compatible with a variety of power sources.

Security Features:

The HC-05 supports basic security features, including the ability to set a PIN code for pairing and configuring security modes.

LED Indicator:

Many HC-05 modules have an onboard LED indicator that provides visual feedback on the pairing status and communication activity.

Hardware Design

Connected Vcc, GND, Tx and Rx pins. It requires 3.6-6V for functioning. The Tx and Rx pins are used to transmit and recieve the data to and from the application.

Software Design

o begin using serial transmission, you first need to pair the module to your device. During the pairing process, the password request encountered should be expecting one of the default passwords "1234" or "0000". You can change this password using one of the AT commands. We are calling the bluetooth the recieve and transmit functions periodically to send and recieve data in 10Hz periodic callbacks.

Technical Challenges

When we were powering to 3.3V, the LED on the bluetooth was blinking but it was not listing on the mobile phone when we had to connect it. After careful reading of the datasheet, we figured out that we have to power up with 3.6-6V.

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