Difference between revisions of "S24: Team X"

Latest revision as of 03:52, 23 May 2024

1 Project Title
2 Abstract
- 2.1 Introduction
- 2.2 Team Members & Responsibilities
3 Schedule
4 Parts List & Cost
5 CAN Communication
- 5.1 Hardware Design
- 5.2 DBC File
6 Sensor and Bridge Controller ECU
7 Motor ECU
8 Geographical Controller
9 Driver and LCD Module
10 Mobile Application
- 10.1 Software Design
- 10.2 Technical Challenges
11 Conclusion

Project Title

Team X

Abstract

Our main goal of this project was to utilize the knowledge acquired from the lectures in CMPE 243. The report summarizes the overall process taken to develop an autonomous driving RC car using FreeRTOS, various periodic tasks, and the CAN bus to combine and run the different code modules.

Introduction

The project was divided into 5 modules:

Sensor Node
Motor Node
Driver Node
Geo Node
Mobile Application

Team Members & Responsibilities

Gitlab Project - Team X

Team Members	Task Responsibility
Priyanka Shah	Geo Controller, Mobile App
Faaris Khilji	Sensor and Bridge Controller
Ashley Ho	Driver and LCD Controller
All/TBD	Motor Controller

Schedule

Week#	Start Date	End Date	Task	Status
1	02/19/2024	02/25/2024	Read previous projects, gather information, and discuss among the group members. Schedule weekly online meetings Order CAN transceivers Test GPS and UART communication.	Completed Completed Completed
2	02/26/2024	03/03/2024	Distribute modules to each team member. Create parts list and Bill of Materials Test CAN Bus communication between 2 boards	Completed Completed Completed
3	03/04/2024	03/11/2024	Order all sensors Research on RC car brands and features. Create project schedule and milestones.	Completed Completed Completed
4	03/18/2024	03/24/2024	Setup project repository Order RC car Test CAN bus with DBC file messages via BusMaster	Completed Completed Completed
5	03/25/2024	03/31/2024	Set up driver node to handle CAN messages received from sensor node Set up sensor node to send CAN messages Set up motor controller node to receive driver commands	Completed Completed Completed
6	04/01/2024	04/07/2024	Set up Geo Controller to receive destination coordinates Link Geo controller to GPS module Integrate sensor hardware into sensor node Test LCD module to display using I2C Begin wiki documentation	Completed Completed Completed Completed Completed
7	04/08/2024	04/14/2024	Enhance obstacle avoidance algorithm Integrate RPM and ultrasonic sensor Integrate LCD module with debug messages Setup preliminary mobile app structure Test obstacle avoidance Start working on power supply for SJ2 boards	Completed Completed Completed Completed Completed Completed
8	04/15/2024	04/21/2024	Fine tune obstacle avoidance algorithm Hack RC car's RPM and install RPM sensor Integrate compass module Begin RC car design and assembly	Completed Completed Completed Completed
9	04/22/2024	04/28/2024	Finish RC car prototype 1 Start outdoor testing at garage rooftop Complete basic mobile app with destination, start/stop button Interface motor and steering Set up LED fault indicators	Completed Completed Completed Completed Completed
10	04/29/2024	05/05/2024	Edit Wiki report, continue updating through next few weeks Fine tune mobile app to display map to choose destination Display debug information on LCD Continue RC outdoor tests	Completed Completed Completed Completed
11	05/06/2024	05/12/2024	Fine tune obstacle avoidance algorithm Fine tune motor controller and sensor controller Fine tune DBC file messages Continue updating wiki report and documentation	Completed Completed Completed Completed
12	05/06/2024	05/12/2024	Tidy RC car mounted hardware Continue outdoor testing Fine tune navigational system Continue refining obstacle avoidance algorithm	Completed Completed Completed Completed
13	05/13/2024	05/19/2024	Finish writing project report Final RC car tests on North Garage Reimburse team members for RC car parts and sensors	Completed Completed Completed
14	05/20/2024	05/26/2024	Final Project Demos	Completed

Parts List & Cost

Item#	Part Desciption	Vendor	Qty	Cost
1	RC Car	Traxxas	1	$250.00
2	RC Car Battery	Traxxus	1	$110
3	CAN Transceivers MCP2551-I/P	Microchip	8	Free Samples
4	MB1010 LV-MaxSonar	MaxBotix	4	$29.95
5	GPS Module	Amazon	1	$18.99
6	BMM150 Magnetometer	Amazon	1	$12.49
7	LCD	Amazon	1	$11.69
8	BLE Module	[1]	1	$17.50

CAN Communication

Each node is connected to a CAN transceiver that are connected to a bus with a 120 Ohm resistor on each end. We handled each message on the 10Hz, with the sensor and motor messages having the highest priority.

Specifically, we classified each node with these (see table below) message IDs.

	Node	Message ID Range
1	MOTOR	300 - 310
2	SENSOR	200
3	GEO	400 - 450
4	DEBUG	600 - 700

Hardware Design

DBC File

Gitlab DBC File

Shown below are the messages utilized in our DBC file:

BO_ 200 SENSOR_SONARS: 4 SENSOR
 SG_ SENSOR_SONARS_left : 0|10@1+ (1,0) [6|254] "inch" DRIVER
 SG_ SENSOR_SONARS_right : 10|10@1+ (1,0) [6|254] "inch" DRIVER
 SG_ SENSOR_SONARS_middle : 20|10@1+ (1,0) [6|254] "inch" DRIVER

BO_ 300 MOTOR_CMD: 1 DRIVER
 SG_ MOTOR_CMD_steer: 0|4@1- (1,0) [-2|2] "" MOTOR
 SG_ MOTOR_CMD_forward: 4|4@1- (1,0) [-5|5] "" MOTOR

BO_ 310 MOTOR_STOP: 1 SENSOR
 SG_ MOTOR_STOP_stop: 0|1@1+ (1,0) [0|0] "" MOTOR

BO_ 400 GPS_NAV: 2 GEO
 SG_ GPS_NAV_latitude : 0|8@1- (1,0) [-90|90] "" DRIVER
 SG_ GPS_NAV_longitude : 8|8@1- (1,0) [-180|180] "" DRIVER

BO_ 420 GPS_HEADING: 4 SENSOR
 SG_ GPS_HEADING_RAW_DEGREES: 0|16@1+ (1,0) [0|0] "Degrees" GEO

BO_ 430 GEO_STATUS: 4 GEO
  SG_ GEO_STATUS_COMPASS_HEADING : 0|5@1+ (1,0) [0|18] "Degrees" DRIVER
  SG_ GEO_STATUS_COMPASS_BEARING : 5|5@1+ (1,0) [0|18] "Degrees" DRIVER
  SG_ GEO_STATUS_DISTANCE_TO_DESTINATION : 10|16@1+ (0.1,0) [0|0] "Meters" DRIVER

BO_ 450 GPS_DESTINATION_LOCATION: 8 DRIVER
 SG_ GPS_DEST_LATITUDE_SCALED_100000 : 0|32@1- (1,0) [0|0] "Degrees" GEO
 SG_ GPS_DEST_LONGITUDE_SCALED_100000 : 32|32@1- (1,0) [0|0] "Degrees" GEO

BO_ 600 DBG_MSG_MOTOR: 4 MOTOR
 SG_ SPEED_M_PER_S : 0|32@1+ (0.001,-100) [0|0] "" SENSOR

BO_ 700 DBG_MSG_GPS: 3 GEO 
 SG_ DBG_GPS_latitude : 0|8@1- (1,0) [-90|90] "" DBG
 SG_ DBG_GPS_longitude : 8|8@1- (1,0) [-180|180] "" DBG
 SG_ DBG_GPS_lock : 16|1@1+ (1,0) [0|0] "" DBG

Sensor and Bridge Controller ECU

Gitlab Sensor and Bridge Controller Node Link

The sensor node utilized the 10Hz to handle message transmission and reception. Meanwhile, the 1Hz periodics receives the sensor data directly from the utrasonic sensor modules. (see Software Design for more details)

void periodic_callbacks__1Hz(uint32_t callback_count) {
  if (callback_count == 0) {
    delay__us(450000); // start up delay
    return;
  }
  ultra_sonic_sensor_data_s data;
  ultrasonic_sensor__run_once();
}

void periodic_callbacks__10Hz(uint32_t callback_count) {
  sensors__transmit_once();
  bridge_get_data();
  sensor_msg_bank__handle_msg();
  heading_sensor_run_once();
}

Hardware Design

Software Design

The ultrasonic get sensor data task occurs in the 1hz, but we range 8 times in the 1hz function. The 3 ultrasonic sensors are chained together to prevent crosstalk. The SJ2 board will send a trigger signal to the left sensor which will then trigger the middle sensor, then the left. This process repeats 8 times in 1 second. Due to the chaining, the sample rate is significantly reduced, but the incoming data for each sensor is more accurate. Without the chaining, the sensor readings appear to be unstable.

The bridge task is responsible for receiving data from the APP via bluetooth. We utilize a Adafruit module (see above for part) which acts as a uart-bluetooth bridge making it extremely easy to integrate into our system without diving too deep into making bluetooth drivers. The main messages we receive are the GPS destination coordinates, and an emergency stop request.

The emergency stop task is a task that is constantly sending a "stop" flag. This flag is false by default and only set true if received from the APP. Once the vehicle stops, our the sensor node must be manually reset to continue operation.

Sensor Modules

void ultrasonic_sensor__run_once() {
  // left, middle, right respectively
  for (int i = 0; i < 8; i++) {
    uint16_t adc_raw[3];

    // start range and wait till all sensors are done
    ultrasonic_range_once();

    adc_raw[0] = adc__get_adc_value(ADC__CHANNEL_2);
    adc_raw[1] = adc__get_adc_value(ADC__CHANNEL_4);
    adc_raw[2] = adc__get_adc_value(ADC__CHANNEL_5);

    // printf("adc2: %d\n", adc_raw[0]);
    sensor_data.left = ((float)adc_raw[0] * SCALE_FACTOR);   // / 2.0;
    sensor_data.middle = ((float)adc_raw[1] * SCALE_FACTOR); // / 2.0;
    sensor_data.right = ((float)adc_raw[2] * SCALE_FACTOR);  // / 2.0;

    if (sensor_data.left < 36) {
      gpio__reset(board_io__get_led3());
    } else {
      gpio__set(board_io__get_led3());
    }

    if (sensor_data.middle < 36) {
      gpio__reset(board_io__get_led2());
    } else {
      gpio__set(board_io__get_led2());
    }

    if (sensor_data.right < 36) {
      gpio__reset(board_io__get_led1());
    } else {
      gpio__set(board_io__get_led1());
    }
  }
}

Bridge Controller

void bridge_get_data(void) {
  char byte;
  const uint32_t zero_timeout = 0;

  while (uart__get(bridge_uart, &byte, zero_timeout)) {
    printf("received byte: %c\n", byte);
  }
}

void bridge_send_data(void *buf, uint8_t buf_size, uint8_t msg_id) {
  // Format the float value from the buffer
  char tx_buf[30];
  if (msg_id == 0) {
    float speed = *(float *)buf;
    snprintf(tx_buf, sizeof(tx_buf), "spd: %f\n", (double)speed);
  } else if (msg_id == 1) {
    dbc_GEO_STATUS_s *msg = (dbc_GEO_STATUS_s *)buf;
    snprintf(tx_buf, sizeof(tx_buf), "hd: %d, br: %d\n", msg->GEO_STATUS_COMPASS_HEADING,
             msg->GEO_STATUS_COMPASS_BEARING);
  }
  uart_printf(bridge_uart, "%s", tx_buf);
  // printf("sent: %s\n", tx_buf);
}

static void process_uart_data_buf(void) {
  int temp;
  char *token;
  int coord_received = 0;

  token = strtok(uart_rx_buf, ",");
  temp = atoi(token);
  if (temp != 0) {
    dest_latitude = temp / 1000000.0f;
    printf("la: %f ", (double)dest_latitude);
    coord_received++;
  }

  token = strtok(NULL, ",");
  temp = atoi(token);
  if (temp != 0) {
    dest_longitude = temp / 1000000.0f;
    printf("lo: %f\n", (double)dest_longitude);
    coord_received++;
  }
  if (coord_received == 2) {
    dbc_GPS_DESTINATION_LOCATION_s dest_location;
    dest_location.GPS_DEST_LATITUDE_SCALED_100000 = dest_latitude * 100000;
    dest_location.GPS_DEST_LONGITUDE_SCALED_100000 = dest_longitude * 100000;
    can__msg_t can_msg = {};
    dbc_message_header_t header;
    header = dbc_encode_GPS_DESTINATION_LOCATION(can_msg.data.bytes, &dest_location);

    can_msg.msg_id = header.message_id;
    can_msg.frame_fields.data_len = header.message_dlc;
    can__tx(can1, &can_msg, 0);
  }
}

Technical Challenges

Our main problems with the sensors occurred once we began outdoor testing. When testing indoors, we encountered no issues with the sensors incorrectly detecting obstacles. However, when moving outdoors, the sensors would detect the ground; thus, we resolved the issue by re-mounting the sensors at an angle in order to avoid detecting the ground. Additionally, we found that when initially calibrating the sensors on startup, there must not be any objects in its way for proper calibration, otherwise we would run into undefined behavior.

Motor ECU

Gitlab Motor Node Link

The motor node utilized the 10Hz to handle message transmission and reception as well as for setting the PWM value. Meanwhile, the 100Hz periodics processed the inputs and transferred the data received to their respective local data structures (see Software Design for more details).

void periodic_callbacks__10Hz(uint32_t callback_count) {
  motor_msg_bank__handle_msg();
  motor_msg_bank__service_mia_10hz();
  motor_pwm__set_pwm();
  if (callback_count % 7 == 0) {
    motor_rpm_driver_calc_speed();
  }
  motor_speed_pid_run_once();
}

void periodic_callbacks__100Hz(uint32_t callback_count) {
  motor_pwm__process_input();
}

Hardware Design

The motor is directly connected to the RC car's ESC device, which is what initially controlled the car's PWMs prior to hijacking. The SJ2 now becomes the PWM transmitter as opposed to the remote and sends the corresponding PWMs based on driver signals (see Software Design for more details)

Software Design

The motor software takes in driver-motor commands through the CAN bus and based on those commands, modifies the PWMs of the motor and the servo to move the wheels forward, backward, left, or right. We mapped the PWM values (See tables below).

	Motor PWM	Direction
1	16.2	Forward
2	14.5	Backward
3	15.02	Idle

	Servo PWM	Direction
1	11.0	Hard Left
2	13.0	Slight Left
3	15.48	Straight
4	17.0	Slight Right
5	19.0	Hard Right

Additionally, we utilized a general state machine that allowed for fluid transitions between forward and reverse (see diagram below). Without a delay in a neutral state, the car's motor would not be able to easily transition from forward to reverse and vice versa, but would rather just stop. As such, we implemented the diagram in the code below and thus allowed for the car to easily transition between the states of forward and reverse.

void motor_pwm__set_pwm(void) {
  motor_pwm__set_motor_pwm();
  motor_pwm__set_servo_pwm();
}

static void motor_pwm__set_servo_pwm(void) {
  static float set_servo_duty_cycle = servo_pwm_idle_duty_cycle;

  if (motor_cmd_local.MOTOR_CMD_steer == 0) {
    // idle
    set_servo_duty_cycle = servo_pwm_idle_duty_cycle;
  } else if (motor_cmd_local.MOTOR_CMD_steer == 1) {
    // slightly right
    set_servo_duty_cycle = 17.00;
  } else if (motor_cmd_local.MOTOR_CMD_steer == 2) {
    // max right
    set_servo_duty_cycle = 19.00;
  } else if (motor_cmd_local.MOTOR_CMD_steer == -1) {
    // slightly left
    set_servo_duty_cycle = 13.00;
  } else if (motor_cmd_local.MOTOR_CMD_steer == -2) {
    // max left
    set_servo_duty_cycle = 11.00;
  }

  pwm1__set_duty_cycle(servo_pwm, set_servo_duty_cycle);
}

static void motor_pwm__set_motor_pwm(void) {
  static float set_motor_duty_cycle = motor_pwm_idle_duty_cycle;

  if (motor_stop_local.MOTOR_STOP_stop) {
    motor_speed_pid_set_target_pwm(motor_pwm_idle_duty_cycle);
  } else {
    if (!ignore_cmds) {
      if (motor_cmd_local.MOTOR_CMD_forward == -1) { // Reverse
        set_motor_duty_cycle = 14.50;
        if (reverse_flag == false) {
          motor_speed_pid_set_target_pwm(motor_pwm_idle_duty_cycle);
          ignore_cmds = true;
          start_time = sys_time__get_uptime_ms();
          reverse_flag = true;
          return;
        }
      } else if (motor_cmd_local.MOTOR_CMD_forward == 0) { // Stop
        set_motor_duty_cycle = motor_pwm_idle_duty_cycle;
      } else if (motor_cmd_local.MOTOR_CMD_forward == 3) { // Forward
        set_motor_duty_cycle = 16.2;                       // 15.7 originally?, 16.2

        if (reverse_flag == true) {
          motor_speed_pid_set_target_pwm(motor_pwm_idle_duty_cycle);
          ignore_cmds = true;
          start_time = sys_time__get_uptime_ms();
          reverse_flag = false;
          return;
        }
      }
      motor_speed_pid_set_target_pwm(set_motor_duty_cycle);
    } else if (sys_time__get_uptime_ms() - start_time >= DIRECTION_CHANGE_DELAY) {
      ignore_cmds = false;
    } else {
    }
  }
}

Technical Challenges

The main issue we had with the motor controller occurred during PWM hacking because we did not want the motor running the car too fast. As such, we had to guess and check a good PWM value to run the motor so that the car would move at the slowest speed possible without running into issues where it could not move. However, with continual tests, we managed to identify the ideal range we wanted to run the motor.

Additionally, we encountered minor issues where, when transitioning from reverse to forward and vice versa, the car would go into neutral and never exit from the neutral state. We found that this issue occurred due to the delay being too small, and so the motor would not have enough time to truly go into neutral and thus would remain in that state. To counter this, we increased the delay and also slightly increased the forward PWM in order to combat the potential that it was stopping due to having too low of a PWM value.

Geographical Controller

Gitlab Geo Node Link

The Geo node utilized the 10Hz to handle message transmission and reception as well as receiving the compass and GPS data directly from the hardware modules. Meanwhile, the 1Hz periodics processed the GPS lock and would toggle the LED on the SJ2 board accordingly (see Software Design for more details).

void periodic_callbacks__1Hz(uint32_t callback_count) {
  int gps_lock_status = geo_sensors_gps__get_gps_lock_status();
  // printf("GPS lock status: %d\n", gps_lock_status);
  if (!gps_lock_status) {
    gpio__toggle(board_io__get_led0());
  } else {
    gpio__reset(board_io__get_led0());
  }
}

void periodic_callbacks__10Hz(uint32_t callback_count) {

  geo_msg_bank__handle_msg();
  geo_msg_bank__service_mia_10hz();
  geo_msg_bank__transmit_msg();

  geo_sensors_gps__run_once();
  // geo_sensors_compass_lsm__run_once();
}

Hardware Design

Software Design

GPS

bool geo_sensors_gps__run_once(void) {
  bool gps_transfer_success = false;

  gps_transfer_success = geo_sensors_gps__transfer_data_from_uart_driver_to_line_buffer();
  gps__parse_coordinates_from_line();

  return gps_transfer_success;
}

bool geo_sensors_gps__transfer_data_from_uart_driver_to_line_buffer(void) {
  char byte_read;
  const uint32_t zero_timeout = 0;
  bool gps_status_reading = false;

  while (uart__get(uart_gps, &byte_read, zero_timeout)) {
    gps_status_reading = true;
    line_buffer__add_byte(&line, byte_read);
  }

  return gps_status_reading;
}

static void gps__parse_coordinates_from_line(void) {
  char gps_line[1000];
  if (line_buffer__remove_line(&line, gps_line, sizeof(gps_line))) {
    // Check if the line is a GPGGA stream
    if (strncmp(gps_line, "$GPGGA,", 7) == 0) {
      char *token;
      int field_idx = 0;
      int latitude_flag = 1;
      int longitude_flag = 1;
      float latitude = 0.0;
      float longitude = 0.0;

      token = strtok(gps_line, ",");
      while (token != NULL) {
        token = strtok(NULL, ",");
        field_idx++;

        if (field_idx == 2) { // Latitude is field 2 in GPGGA
          latitude = atof(token);
        } else if (field_idx == 3) { // N/S direction is field 3 in GPGGA
          char c = token[0];
          if (c == 'S') {
            latitude_flag *= -1;
          }
        } else if (field_idx == 4) { // Longitude is field 4 in GPGGA
          longitude = atof(token);
        } else if (field_idx == 5) { // E/W direction is field 5 in GPGGA
          char c = token[0];
          if (c == 'W') {
            longitude_flag *= -1;
          }
        } else if (field_idx == 6) {
          char c = token[0];
          // printf("GPS QUALITY: %c\n", c);
          if (c == '0') {
            gps_quality = 0;
          } else if (c == '1') {
            gps_quality = 1;
            // printf("GPS lock successful\n");
          } else {
            // printf("Trying to acquire GPS fix\n");
          }
        } else if (field_idx > 6) {
          break;
        }
      }

      int latitude_days = latitude / 100;
      int longitude_days = longitude / 100;
      float latitude_minutes = latitude - 3700.00;
      float longitude_minutes = longitude - 12100.00;

      latitude_minutes /= 60;
      longitude_minutes /= 60;

      parsed_coordinates.latitude = ((1.0 * latitude_days) + latitude_minutes) * latitude_flag;
      parsed_coordinates.longitude = ((1.0 * longitude_days) + longitude_minutes) * longitude_flag;
    }
  }

Compass Module

void geo_sensors_compass_lsm__run_once(void) { geo_sensors_compass__read(); }

void geo_sensors_compass__read(void) {
  uint8_t buffer[6];
  float mag[3];

  i2c__read_slave_data(current_i2c, magnetometer_read, LSM303AGR_MAG_OUTX_L_REG, buffer, 6);

  mag[0] = (int16_t)(buffer[1] << 8 | buffer[0]);
  mag[1] = (int16_t)(buffer[3] << 8 | buffer[2]);
  mag[2] = (int16_t)(buffer[5] << 8 | buffer[4]);

  geo_sensors_compass__calculate_heading(mag);
}

static void geo_sensors_compass__calculate_heading(float mag[3]) {
  float magnitude = sqrtf(mag[0] * mag[0] + mag[1] * mag[1] + mag[2] * mag[2]);

  const float epsilon = 1e-6;
  if (magnitude < epsilon) {
    current_compass_heading = 0;

  } else {
    float mag_xy = mag[1] / magnitude;
    float mag_xx = mag[0] / magnitude;
    current_compass_heading = (atan2(mag_xy, mag_xx)) * 180.0 / PI;

    if (current_compass_heading < 0) {
      current_compass_heading = 360 + current_compass_heading;
    }
  }
}

Haversine Algorithm

In the provided function, we use the Haversine algorithm to calculate the shortest distance between two geographical points on Earth, identified by their latitude and longitude. We start by converting these coordinates from degrees to radians and then apply the Haversine formula to determine the distance. Additionally, we calculate the bearing and heading from the current location to the destination.

void geo_logic__haversine_calculation(void) {
  // Input: Latitude longitude, Output: heading, bearing, distance to destination
  gps_coordinates_t current_gps = geo_sensors_gps__get_coordinates();
  float current_latitude = current_gps.latitude;
  float current_longitude = current_gps.longitude;

  gps_coordinates_t destination_gps = geo_msg_bank__get_gps_destination_location();
  float destination_latitude = destination_gps.latitude;
  float destination_longitude = destination_gps.longitude;

  // Convert latitudes and longitudes from degrees to radians
  float phi1 = (float)(current_latitude * (float)PI_VAL / (float)180.0);
  float phi2 = (float)(destination_latitude * PI_VAL / (float)180.0);
  float delta_phi = (float)(destination_latitude - current_latitude) * PI_VAL / (float)180.0;
  float delta_lambda = (float)(destination_longitude - current_longitude) * PI_VAL / (float)180.0;

  // Haversine formula
  float a =
      sin(delta_phi / 2) * sin(delta_phi / 2) + cos(phi1) * cos(phi2) * sin(delta_lambda / 2) * sin(delta_lambda / 2);
  float c = 2 * atan2(sqrt(a), sqrt(1 - a));
  distance_to_destination = RADIUS_EARTH_KM * c * 1000;

  // Bearing calculation
  float y = sin(delta_lambda) * cos(phi2);
  float x = cos(phi1) * sin(phi2) - sin(phi1) * cos(phi2) * cos(delta_lambda);
  float bearing_rad = atan2(y, x);
  compass_bearing = fmod((bearing_rad * (float)180.0 / (float)PI_VAL + (float)360.0), 360.0);

  compass_heading = geo_msg_bank__get_heading();

  current_geo_status.GEO_STATUS_DISTANCE_TO_DESTINATION = distance_to_destination;
  current_geo_status.GEO_STATUS_COMPASS_BEARING = (uint8_t)(compass_bearing / 20);
  current_geo_status.GEO_STATUS_COMPASS_HEADING = (uint8_t)(compass_heading);
}

Checkpoint Algorithm

The checkpoint algorithm is a very simple algo that provides the next "checkpoint" to drive to given the current location and destination coordinates. We first try to find the closest checkpoint, and if it brings us closer to the final destination, then travel to that checkpoint. We repeat this process until no checkpoint can bring us closer and the destination is the final "checkpoint." We use the haversine algorithm to determine how close we are to a checkpoint so that we know we reached it, otherwise we may circle back around to it.

If no checkpoints are provided in the list, then the car will attempt to navigate to the final destination directly which will likely be very challenging for large obstacles in the path. Initially, we used Euclidian distance to find the closest checkpoint, but raw distance calculated from that formula is not very easy to understand, so we switch to using haversine to get distance in meters.

gps_coordinates_t find_next_point(gps_coordinates_t origin, gps_coordinates_t destination) {
  gps_coordinates_t closest_point;
  float min_distance = FLT_MAX;
  float distance;
  int checkpoint_idx = -1;

  for (int i = 0; i < NUM_OF_CHECKPOINTS; i++) {
    distance = get_distance_between_points(origin, locations_we_can_travel[i]);
    if (distance < min_distance) {
      if (get_distance_between_points(origin, locations_we_can_travel[i]) < 5) {
        printf("reached checkpoint\n");
        continue;
      }
      // Check if point is actually closer to destincation
      if (get_distance_between_points(locations_we_can_travel[i], destination) <
          get_distance_between_points(origin, destination)) {
        min_distance = distance;
        checkpoint_idx = i;
        printf("setting checkpoint\n");
      } else {
        continue;
      }
    }
  }
  if (checkpoint_idx < 0) {
    closest_point = destination;
    printf("Going destination\n");
  } else {
    printf("setting closest_point\n");
    closest_point = locations_we_can_travel[checkpoint_idx];
  }
  printf("p: %f, %f", closest_point.latitude, closest_point.longitude);
  return closest_point;
}

Technical Challenges

Most of our problems occurred due to an inaccurate compass reading. Mainly, the compass heading angles would not return as very stable values, which resulted in unstable driving behavior for the car. We initially thought it would resolve itself with some software calibration; however, we found that even with software calibration for the LSM, it would still be inaccurate and would not even give the full 360 degree heading range. As such, we resolved to simply buying a more expensive and more accurate magnetometer, which solved our issues. The new module returned more stable values, despite it still fluctuating, the angle changing was not enough to affect the driving behavior since we built our module with the intent of not needing the exact degree of the angles. We also found some trouble mounting the compass due to not wanting to have to handle any further offsets after mounting. Because of this, when mounting the compass, we identified where the compass was detecting north and faced the front of the car in that direction. Following that step, we mounted the compass so that it, along with the front of the car, was facing north.

Additionally, we ran into some errors with the GPS module due to us receiving latitude and longitude values that were miles away from our current location. However, we identified an error on our end where we had misinterpreted the data returned from the GPS module and thus were calculating the wrong latitude and longitude values. Once we identified the error, we found the correct way to extract the correct latitude and longitude values for a more accurate location.

Driver and LCD Module

Gitlab Driver & LCD Node Link

The driver node utilized the 10Hz to handle message transmission and reception as well as setting the LCD display for status updates and motor commands. Meanwhile, the 100Hz periodics processed the inputs and transferred the data received to their respective local data structures (see Software Design for more details).

void periodic_callbacks__10Hz(uint32_t callback_count) {
  driver_msg_bank__handle_msg();
  driver_msg_bank__service_mia_10hz();
  driver_msg_bank__transmit_msg();
  i2c_lcd__clear();
  driver__lcd_display_data();
}

void periodic_callbacks__100Hz(uint32_t callback_count) {
  driver__process_input();
}

Hardware Design

The driver node, aside from its connection to the CAN bus, is also connected the the LCD module through I2C. the SJ2 board provides the LCD with 3.3V power and sends data through SDA and SCL.

Software Design

Driver Logic

The driver logic came down to a basic logic (shown in table below) where 0 implies there is no obstacle, and 1 implies an obstacle is present. Depending on each combination of 1's and 0's, the car would determine whether to turn left or right and move forward or backward.

dbc_MOTOR_CMD_s driver__get_motor_commands(void) {
  driver__avoid_obstacle();
  return motor_commands;}

static void driver__avoid_obstacle(void) {
  obstacle_below_threshold_s below_thresholds = driver__closest_obstacle();

  if (!(below_thresholds.MIDDLE) && !(below_thresholds.LEFT) && !(below_thresholds.RIGHT)) {
    driver__go_to_destination();
  } else {
    driver__steering();
  }
  driver__led_indicators();}

dbc_MOTOR_CMD_s driver__get_motor_commands(void) {
  driver__avoid_obstacle();
  return motor_commands;
}

// slight turns for destination movement
static void driver__go_to_destination(void) {
  int angle_difference = local_geo_status.GEO_STATUS_COMPASS_HEADING - local_geo_status.GEO_STATUS_COMPASS_BEARING;
  if (local_geo_status.GEO_STATUS_DISTANCE_TO_DESTINATION > 0) {
    if (angle_difference > 0) {
      // go right
      motor_commands.MOTOR_CMD_steer = 1;
      motor_commands.MOTOR_CMD_forward = 3;
    } else if (angle_difference < 0) {
      // go left
      motor_commands.MOTOR_CMD_steer = -1;
      motor_commands.MOTOR_CMD_forward = 3;
    } else { // go straight
      motor_commands.MOTOR_CMD_steer = 0;
      motor_commands.MOTOR_CMD_forward = 3;
    }
  } else { // reached destination
    motor_commands.MOTOR_CMD_forward = 0;
    motor_commands.MOTOR_CMD_steer = 0;
  }}

LCD Logic

The LCD printout relied solely on the datasheet. However, some optimizations were made in order to simplify the LCD methods. Specifically the starting_position() function allowed for eash access to each line of the LCD's printout without needing to write data to the addresses every time we wanted to print onto a specific line. Additionally, the lcd__printf() was a minor optimization to allow for us to print a string rather than per character and calling the send_data() function for every character.

void driver__lcd_display_data(void) {
  char debug_str[15];

  if (local_motor_stop.MOTOR_STOP_stop) {
    i2c_lcd__clear();
    i2c_lcd__starting_position(0, 0);
    i2c_lcd__printf("   MOTOR STOPPED!");
    i2c_lcd__starting_position(1, 0);
    i2c_lcd__printf(" PLS RESTART BRIDGE");
    i2c_lcd__starting_position(1, 0);
    i2c_lcd__printf("     TO CONTINUE");
  } else if (local_geo_status.GEO_STATUS_DISTANCE_TO_DESTINATION) {
    sprintf(debug_str, "%.1lf", local_geo_status.GEO_STATUS_DISTANCE_TO_DESTINATION);

    i2c_lcd__starting_position(0, 0);
    i2c_lcd__printf("   PROJECT TEAM X");

    i2c_lcd__starting_position(1, 0);
    i2c_lcd__printf("Distance:");
    i2c_lcd__starting_position(1, 10);
    i2c_lcd__printf(debug_str);

    sprintf(debug_str, "%d", (int)local_geo_status.GEO_STATUS_COMPASS_HEADING);
    i2c_lcd__starting_position(2, 0);
    i2c_lcd__printf("     Heading:");
    i2c_lcd__starting_position(2, 13);
    i2c_lcd__printf(debug_str);

    sprintf(debug_str, "%d", (int)local_geo_status.GEO_STATUS_COMPASS_BEARING);
    i2c_lcd__starting_position(3, 0);
    i2c_lcd__printf("     Bearing:");
    i2c_lcd__starting_position(3, 13);
    i2c_lcd__printf(debug_str);
  } else if (local_geo_status.GEO_STATUS_DISTANCE_TO_DESTINATION < 2) {
    i2c_lcd__clear();
    i2c_lcd__starting_position(1, 0);
    i2c_lcd__printf("DESTINATION REACHED!");
  }
}

void i2c_lcd__printf(char *line) {
  while (*line)
    i2c_lcd__send_data(*line++);
}

void i2c_lcd__starting_position(uint8_t y, uint8_t x) {

  char Starting_Addr = 0x80;
  switch (y) {
  case 0:
    Starting_Addr |= 0x00;
    break;
  case 1:
    Starting_Addr |= 0x40;
    break;
  case 2:
    Starting_Addr |= 0x14;
    break;
  case 3:
    Starting_Addr |= 0x54;
    break;
  default:;
  }

  Starting_Addr += x;

  i2c_lcd__send_command(0x80 | Starting_Addr);
}

Technical Challenges

Most of the issues surrounding the driver node occurred after field testing. We found there were some issues regarding how soon the driver made the decision compared to when it received the sensor data. As such, we made adjustments so that, despite the delay, there would be time for the driver to receive the sensor data, identify the correct action to take, and then move the wheels. Overall, our driver node worked as expected once we started field testing due to the multitude of unit tests that were done to ensure proper logic. We also identified some minor issues when testing the reverse; however, this was easily fixed by modifying the sensor priorities so that the middle sensor's values, when below the threshold, had the most precedence. In this way, the car would not fluctuate between going forward and reverse when there was clearly an object in front of it.

Additionally, we ran into issues integrating the LCD screen through I2C. The screen's slave address would not get detected, despite the device having the proper connections and power supply. However, it was found to have just been a hardware issue and worked with a different I2C LCD device.

Mobile Application

Gitlab Mobile App Node Link

Software Design

The iOS Mobile App was designed using Swift. The primary purpose of the app was to connect to the Bridge Controller via bluetooth and send GPS destination and emergency stop message and to receive and display geo controller status heading and bearing data.

Scan Bluetooth Devices

 @IBAction func buttonPressed(_ sender: UIButton) {
        print("Scan bluetooth devices Button pressed")
        
        // Start scanning for Bluetooth devices if Bluetooth is turned on
        if centralManager.state == .poweredOn {
            centralManager.scanForPeripherals(withServices: nil, options: nil)
            print("Scanning for Bluetooth devices...")
        } else {
            print("Bluetooth is not turned on")
        }
    }

extension ViewController: CBCentralManagerDelegate {
    func centralManagerDidUpdateState(_ central: CBCentralManager) {
        switch central.state {
        case .poweredOn:
            print("Bluetooth is On")
        case .poweredOff:
            print("Bluetooth is Off")
        case .resetting:
            print("Bluetooth is Resetting")
        case .unauthorized:
            print("Bluetooth not authorized")
        case .unsupported:
            print("Bluetooth not supported")
        case .unknown:
            print("Bluetooth unknown state")
        @unknown default:
            print("A new case was added that is not handled")
        }
        
    }
    
    func centralManager(_ central: CBCentralManager, didDiscover peripheral: CBPeripheral, advertisementData: [String : Any], rssi RSSI: NSNumber) {
        
        if let name = peripheral.name, name != "Unknown Device" {
            // Avoid adding duplicates
            if !discoveredDevices.contains(where: { $0.identifier == peripheral.identifier }) {
                discoveredDevices.append(peripheral)
                DispatchQueue.main.async { [weak self] in self?.displayContent.reloadData()
                }
            }
        }
        
    }
    func centralManager(_ central: CBCentralManager, didConnect peripheral: CBPeripheral) {
        print("Connected to peripheral: \(peripheral)")
        
        selectedPeripheral = peripheral // Make sure to store the reference to the connected didFailToConnectperipheral
        peripheral.delegate = self // Set the delegate to self for handling peripheral events
        peripheral.discoverServices(nil)
    
    }
    
    func centralManager(_ central: CBCentralManager, didDisconnectPeripheral peripheral: CBPeripheral, error: Error?) {
        print("Disconnected from peripheral: \(peripheral)")
        if let error = error {
            print("Error: \(error.localizedDescription)")
        }
    }
    
    func centralManager(_ central: CBCentralManager, didFailToConnect peripheral: CBPeripheral, error: Error?) {
        print("Failed to connect to peripheral: \(peripheral), error: \(error?.localizedDescription ?? "Unknown error")")
        
        // Present an alert to the user with the option to try connecting again
        let alert = UIAlertController(title: "Connection Failed", message: "Failed to connect to the selected device. Would you like to try again?", preferredStyle: .alert)
        
        // Add a "Try Again" action to the alert
        alert.addAction(UIAlertAction(title: "Try Again", style: .default) { _ in
            // Retry connecting to the selected peripheral
            central.connect(peripheral, options: nil)
        })
        
        // Add a "Cancel" action to the alert
        alert.addAction(UIAlertAction(title: "Cancel", style: .cancel, handler: nil))
        
        // Present the alert
        self.present(alert, animated: true, completion: nil)
    }
}

Set GPS Desination

import UIKit
import MapKit

protocol MapViewControllerDelegate: AnyObject {
    func didChooseLocation(latitude: Double, longitude: Double)
}


class CustomMapViewController: UIViewController, MKMapViewDelegate {

    @IBOutlet weak var mapView: MKMapView!
    weak var delegate: MapViewControllerDelegate?
    
    var lastSelectedLatitude: Double?
    var lastSelectedLongitude: Double?
    
    override func viewDidLoad() {
        super.viewDidLoad()
        mapView.delegate = self

        print("Map View loaded!")
        // Add a tap gesture recognizer to the map view
        let tapRecognizer = UITapGestureRecognizer(target: self, action: #selector(handleMapTap(_:)))
        mapView.addGestureRecognizer(tapRecognizer)
        
        // Define the center of the region your map should display
        // 37.33919199814887, -121.88103575173972
        let center = CLLocationCoordinate2D(latitude: 37.33919199814887, longitude: -121.88103575173972) // SJSU parking lot
        
        // Set the region of the map
        let region = MKCoordinateRegion(center: center, span: span)
        mapView.setRegion(region, animated: true)
    }

    @objc func handleMapTap(_ gestureReconizer: UITapGestureRecognizer) {
        let location = gestureReconizer.location(in: mapView)
        let coordinate = mapView.convert(location, toCoordinateFrom: mapView)

        // Remove all existing annotations
        mapView.removeAnnotations(mapView.annotations)
        
        // Add annotation:
        let annotation = MKPointAnnotation()
        annotation.coordinate = coordinate
        mapView.addAnnotation(annotation)
        
        lastSelectedLatitude = coordinate.latitude
        lastSelectedLongitude = coordinate.longitude
        
        print("Latitude: \(coordinate.latitude), Longitude: \(coordinate.longitude)")
        
    }
    
    @IBAction func buttonPressed(_ sender: UIButton) {
        print("Sending GPS destination location to Bridge Controller!")
        
        if let currentlatitude = lastSelectedLatitude, let currentlongitude = lastSelectedLongitude {
            delegate?.didChooseLocation(latitude: currentlatitude, longitude: currentlongitude)
            print("Coordinates sent: Latitude: \(currentlatitude), Longitude: \(currentlongitude)")
        } else {
            print("No location selected.")
        }
    }
    
}

Send Emergency Stop

@IBAction func buttonPressed2(_ sender: UIButton) {
        print("STOP Button pressed")
        
        sendStopToPeripheral()
    }

extension ViewController {
    func sendStopToPeripheral() {
        guard let peripheral = selectedPeripheral,
              let characteristic = writeCharacteristic,
              characteristic.properties.contains(.write) || characteristic.properties.contains(.writeWithoutResponse),
              let stopData = "S".data(using: .utf8),
              let stringRepresentation = String(data: stopData, encoding: .utf8) else {
                print("Cannot send data: Peripheral or characteristic not set up correctly.")
            return
          
        }

        
        peripheral.writeValue(stopData, for: characteristic, type: .withResponse) // or .withoutResponse
        print("stopData sent: \(stringRepresentation)")
        
        if characteristic.uuid == CBUUID(string: "6E400002-B5A3-F393-E0A9-E50E24DCCA9E") {
            //writeCharacteristic = characteristic
            print("Adafruit BLE write characteristic FOUND")
            peripheral.writeValue(stopData, for: characteristic, type: .withResponse) // or .withoutResponse
            print("stopData sent: \(stopData)")
            print("stopData sent str: \(stringRepresentation)")
        }
        else{
            print("Adafruit BLE write characteristic NOT FOUND")
        }
    }
}

Receive GEO Status

func peripheral(_ peripheral: CBPeripheral, didDiscoverCharacteristicsFor service: CBService, error: Error?) {
    if let error = error {
        print("Error discovering characteristics: \(error.localizedDescription)")
    }
    guard let characteristics = service.characteristics else {
        print("No characteristics discovered for service: \(service.uuid)")
        return
    }
    
    for characteristic in characteristics {
        print("Discovered characteristic: \(characteristic.uuid)")
        
        // Check if this characteristic supports write operations
        if characteristic.properties.contains(.write) || characteristic.properties.contains(.writeWithoutResponse) {
            writeCharacteristic = characteristic
            print("Write characteristic found: \(characteristic.uuid)")
            
        }
        
        if characteristic.uuid == CBUUID(string: "6E400003-B5A3-F393-E0A9-E50E24DCCA9E") {
            readCharacteristic = characteristic
            print("Read characteristic found: \(characteristic.uuid)")
            
            // Now that we have the read characteristic, we can read data
            peripheral.setNotifyValue(true, for: characteristic) // Enable notifications for this characteristic
            peripheral.readValue(for: characteristic) // Read the initial value
            print("Reading data...")
        }
        
    }
}

Technical Challenges

The first challenge we encountered involved identifying the read/write characteristics of the scanned peripherals. The UUIDs for the read and write characteristics weren't being detected when sifting through nearby Bluetooth devices. To resolve this, we used a different Bluetooth testing app that successfully parsed and identified all relevant UUIDs. Subsequently, we hardcoded these UUIDs into our Bluetooth module to enable data transmission and reception.

The second issue arose with the transmission of latitude and longitude coordinates selected on the map view. Since the map view operated as a separate screen within the app, the latitude and longitude values from the dropped pin were not accessible from the main view controller screen. To address this, we implemented a singleton to store these coordinates globally, allowing them to be accessed and updated across different screens effectively.

Conclusion

Overall, through the course of this project, we learned a lot of different types of skills. Starting with the obvious, we learned better coding habits such as code modularization and code decoupling. We also understood how to utilize the CAN bus and messages in addition to PWM hacking for the RC car. In the scope of the project, we learned communication and group coordination and distribution skills. Although we had a bit of a rough start, as the project continued, we better understood how to organize weekly goals and tasks that needed to be done and properly distributed these tasks to each member. In addition, we learned how to collaborate with each other to build the RC car.

Project Video

Demo

Project Source Code

Team X Gitlab Link

Advice for Future Students

Start early! Order things as soon as you have your team, and keep track of finances for reimbursements
Unit-testing lets you know the obstacle avoidance works the way you generally want it to and saves a lot of time when field testing
Try to keep the logic simple, over-complicating the code modules makes your debugging time a lot harder since you won't know where things went wrong
Avoid the LSM compass where possible: The heading angles are not stable, which caused issues for us when handling the "Going to Destination" logic
Take advantage of the past reports! Because so many people have done this project, there are a lot of mistakes that have occurred that you can avoid by reading the past reports

Acknowledgement

Thank you Preet for the class and for guiding us through the process of building the RC car.

References

1. Ultrasonic Sensors Datasheet
2. Convert NMEA to Latitude Longitude
3. GPS Position Fixing
4. BMM150 Datasheet
5. LCD Datasheet
6. LCD Display Initialization and Configuration Example Tutorial
7. Previous Project Reports

@@ Line 6: / Line 6: @@
 == Abstract ==
-<2-3 sentence abstract>
+Our main goal of this project was to utilize the knowledge acquired from the lectures in CMPE 243. The report summarizes the overall process taken to develop an autonomous driving RC car using FreeRTOS, various periodic tasks, and the CAN bus to combine and run the different code modules.
 === Introduction ===
-The project was divided into N modules:
+The project was divided into 5 modules:
-* Sensor ...
+* Sensor Node
-* Motor..
+* Motor Node
-* ...
+* Driver Node
-* Android
+* Geo Node
+* Mobile Application
 === Team Members & Responsibilities ===
-<Team Picture>
+[[File: TeamX_GroupPicture.jpeg]]
-Gitlab Project Link - [https://gitlab.com/...]
+[https://gitlab.com/ashley.n.ho/sjtwo-c Gitlab Project - Team X]
-<BR/>
-<Provide ECU names and members responsible>
+{| class="wikitable"
-<One member may participate in more than one ECU>
+|-
+! scope="col"| Team Members
+! scope="col"| Task Responsibility
+|-
+! scope="row" style="text-align: left;"|
+* Priyanka Shah
+|
+* Geo Controller, Mobile App
+|-
+! scope="row" style="text-align: left;"|
+* Faaris Khilji
+|
+* Sensor and Bridge Controller
+|-
+! scope="row" style="text-align: left;"|
+* Ashley Ho
+|
+* Driver and LCD Controller
+|-
+! scope="row" style="text-align: left;"|
+* All/TBD
+|
+* Motor Controller
+|-
-* Sensor
+|}
-** Link to Gitlab user1
-** Link to Gitlab user2
-* Motor
-** Link to Gitlab user1
-** Link to Gitlab user2
-* Geographical
-** Link to Gitlab user1
-** Link to Gitlab user2
-* Communication Bridge Controller & LCD
-** Link to Gitlab user1
-** Link to Gitlab user2
-* Android Application
-** Link to Gitlab user1
-** Link to Gitlab user2
-* Testing Team
-** Link to Gitlab user1
-** Link to Gitlab user2
 <HR>
@@ Line 71: / Line 73: @@
 * Schedule weekly online meetings
 * Order CAN transceivers
+* Test GPS and UART communication.
 |
+* <font color = "green">Completed
+* <font color = "green">Completed
 * <font color = "green">Completed
 |-
@@ Line 80: / Line 84: @@
 |
 * Distribute modules to each team member.
+* Create parts list and Bill of Materials
+* Test CAN Bus communication between 2 boards
 |
+* <font color = "green">Completed
+* <font color = "green">Completed
 * <font color = "green">Completed
 |-
@@ Line 89: / Line 97: @@
 |
 * Order all sensors
-* Research on RC car brands and features
+* Research on RC car brands and features.
+* Create project schedule and milestones.
 |
-* <font color = "yellow">In Progress
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
 |-
 ! scope="row"| 4
@@ Line 100: / Line 111: @@
 * Setup project repository
 * Order RC car
+* Test CAN bus with DBC file messages via BusMaster
 |
-* <font color = "red">Incomplete
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
 |-
 ! scope="row"| 5
@@ Line 108: / Line 122: @@
 | 03/31/2024
 |
-* Order all sensors
+* Set up driver node to handle CAN messages received from sensor node
-* Research on RC car brands and features
+* Set up sensor node to send CAN messages
+* Set up motor controller node to receive driver commands
 |
-* <font color = "red">Incomplete
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
 |-
 ! scope="row"| 6
@@ Line 118: / Line 135: @@
 | 04/07/2024
 |
-* Order all sensors
+* Set up Geo Controller to receive destination coordinates
-* Research on RC car brands and features
+* Link Geo controller to GPS module
+* Integrate sensor hardware into sensor node
+* Test LCD module to display using I2C
+* Begin wiki documentation
 |
-* <font color = "red">Incomplete
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
 |-
 ! scope="row"| 7
@@ Line 128: / Line 152: @@
 | 04/14/2024
 |
-* Order all sensors
+* Enhance obstacle avoidance algorithm
-* Research on RC car brands and features
+* Integrate RPM and ultrasonic sensor
+* Integrate LCD module with debug messages
+* Setup preliminary mobile app structure
+* Test obstacle avoidance
+* Start working on power supply for SJ2 boards
 |
-* <font color = "red">Incomplete
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
 |-
 ! scope="row"| 8
@@ Line 138: / Line 171: @@
 | 04/21/2024
 |
-* Order all sensors
+* Fine tune obstacle avoidance algorithm
-* Research on RC car brands and features
+* Hack RC car's RPM and install RPM sensor
+* Integrate compass module
+* Begin RC car design and assembly
 |
-* <font color = "red">Incomplete
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
 |-
 ! scope="row"| 9
@@ Line 148: / Line 186: @@
 | 04/28/2024
 |
-* Order all sensors
+* Finish RC car prototype 1
-* Research on RC car brands and features
+* Start outdoor testing at garage rooftop
+* Complete basic mobile app with destination, start/stop button
+* Interface motor and steering
+* Set up LED fault indicators
 |
-* <font color = "red">Incomplete
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
 |-
 ! scope="row"| 10
@@ Line 158: / Line 203: @@
 | 05/05/2024
 |
-* Order all sensors
+* Edit Wiki report, continue updating through next few weeks
-* Research on RC car brands and features
+* Fine tune mobile app to display map to choose destination
+* Display debug information on LCD
+* Continue RC outdoor tests
 |
-* <font color = "red">Incomplete
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
 |-
 ! scope="row"| 11
@@ Line 168: / Line 218: @@
 | 05/12/2024
 |
-* Order all sensors
+* Fine tune obstacle avoidance algorithm
-* Research on RC car brands and features
+* Fine tune motor controller and sensor controller
+* Fine tune DBC file messages
+* Continue updating wiki report and documentation
 |
-* <font color = "red">Incomplete
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
 |-
 ! scope="row"| 12
@@ Line 178: / Line 233: @@
 | 05/12/2024
 |
-* Order all sensors
+* Tidy RC car mounted hardware
-* Research on RC car brands and features
+* Continue outdoor testing
+* Fine tune navigational system
+* Continue refining obstacle avoidance algorithm
 |
-* <font color = "red">Incomplete
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
 |-
 ! scope="row"| 13
@@ Line 193: / Line 253: @@
 |
-* <font color = "red">Incomplete
+* <font color = "green">Completed
+* <font color = "green">Completed
+* <font color = "green">Completed
 |-
 ! scope="row"| 14
@@ Line 202: / Line 264: @@
 |
-* <font color = "red">Incomplete
+* <font color = "green">Completed
 |-
@@ Line 221: / Line 283: @@
 ! scope="row"| 1
 | RC Car
-| Traxxas
+| [https://l.messenger.com/l.php?u=https%3A%2F%2Fwww.hobbytown.com%2Ftraxxas-slash-bl2s-1-10-rtr-2wd-brushless-short-course-truck-green-tra58134-4-grn%2Fp1531653&h=AT2UCO46yJC6FLs5eMMt_WG6b_-2srfPT20Ht30KuNimfT0CtY9eEXN27DIXlvtf-1y2p0tokwHIKXE1SR_LavnhOkAFO_w7IiHUljwLAk6A498c2O3RGqQaW_X21kB9LZfa7w Traxxas]
 | 1
 | $250.00
 |-
 ! scope="row"| 2
+| RC Car Battery
+| [https://www.hobbytown.com/traxxas-ezpeak-2s-single-completer-pack-multichemistry-battery-charger-tra2992/p581147 Traxxus]
+| 1
+| $110
+|-
+! scope="row"| 3
 | CAN Transceivers MCP2551-I/P
-| Microchip [http://www.microchip.com/wwwproducts/en/en010405]
+| [http://www.microchip.com/wwwproducts/en/en010405 Microchip]
 | 8
 | Free Samples
+|-
+! scope="row"| 4
+| MB1010 LV-MaxSonar
+| [https://maxbotix.com/products/mb1010?variant=41051364556851&currency=USD&utm_term=&utm_source=google&utm_medium=cpc&gad_source=1&gclid=CjwKCAjwo6GyBhBwEiwAzQTmc0ryxB-TKemhuO9FuxpdqVA01VtM8ZU8mlnqouS3UIvo1jzjhxK4SRoCSZAQAvD_BwE MaxBotix]
+| 4
+| $29.95
+|-
+! scope="row"| 5
+| GPS Module
+| [https://www.amazon.com/Navigation-Positioning-Microcontroller-Compatible-Sensitivity/dp/B0B31NRSD2/ref=sr_1_3?crid=O8LGB2AZCR8K&dib=eyJ2IjoiMSJ9.QFx4oBZl1-dUCGV1D5L0XybyGebhmhfPAXI5ECw0VEaanwtTNAbZ2jLtyeXw1-1rqp40g2PVfxx2LxUOZRPhlh3mO8ZWTN9SnkzwfWuBPVSM4e4E33_H6bUyEb4jMuTZLK2C0yiLu6A0zc024ajAqH7LVdrmTMgSc4YnJaSRKbrDYeeLV54PEoneAAd6BigfYQrbG9EuIouTUmV5kAtRnhIyyaMP2gxipOCB_yc4UzA.ZYspItku9lWRgwbcPp9KWQUcP16jgLm9n76jIO-6DDA&dib_tag=se&keywords=gps+module+arduino&qid=1716055609&sprefix=gps+module%2Caps%2C123&sr=8-3 Amazon]
+| 1
+| $18.99
+|-
+! scope="row"| 6
+| BMM150 Magnetometer
+| [https://www.amazon.com/waveshare-Magnetometer-Measurement-Interface-Raspberry/dp/B0C5XY3J3B/ref=sr_1_1?crid=1E3MMU8B85MFT&dib=eyJ2IjoiMSJ9.WKN3LVNKtVPIBPBc5_emzouPizZxgR3vsz-6R4ST2A5wR3EeyBvmzlTiUkQqXOrjqBTYtVFE6HJwK8v0tyUIm-IxYzxZeCZsfMtPKOqxzeihzH4uCQ5YyukR_72pW255ZSYR9R941H_vSZOeh7dqnVKY8Bx4kdxNcTvyYoOAYLsR5u17q0dgOJzIW0qTQPTkSc-6mvfwrOj7l_XLafIktSrxUjMB4fgLqSEwj_3jZv8.Ic_theuXAJJDADFV1Eu89Hy_Wvl_E3-sROhwDDwLc-Y&dib_tag=se&keywords=magnetometer+bmm150&qid=1716055546&sprefix=magnetometer+bmm150%2Caps%2C131&sr=8-1 Amazon]
+| 1
+| $12.49
+|-
+! scope="row"| 7
+| LCD
+| [https://www.amazon.com/SunFounder-Serial-Module-Display-Arduino/dp/B01GPUMP9C/ref=asc_df_B019K5X53O/?tag=hyprod-20&linkCode=df0&hvadid=693601922380&hvpos=&hvnetw=g&hvrand=15162836172036316902&hvpone=&hvptwo=&hvqmt=&hvdev=c&hvdvcmdl=&hvlocint=&hvlocphy=9032166&hvtargid=pla-563014027379&mcid=d8869fd4bb8c3e78a3b0ed4cc311f13b&gad_source=1&gclid=CjwKCAjw0YGyBhByEiwAQmBEWtir6ToCY71keb4T8u84nxll4q-pBoWD5p5W88PQJlnLNyOFNyd48BoCXrQQAvD_BwE&th=1 Amazon]
+| 1
+| $11.69
+|-
+! scope="row"| 8
+| BLE Module
+| [https://www.adafruit.com/product/2479]
+| 1
+| $17.50
 |-
 |}
@@ Line 235: / Line 333: @@
 <HR>
 <BR/>
-== Printed Circuit Board  ==
-<Picture and information, including links to your PCB>
-<br>
-<HR>
-<BR/>
 == CAN Communication ==
-<Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.>
+Each node is connected to a CAN transceiver that are connected to a bus with a 120 Ohm resistor on each end. We handled each message on the 10Hz, with the sensor and motor messages having the highest priority.
+Specifically, we classified each node with these (see table below) message IDs.
+{| class="wikitable"
+|-
+! scope="col"|
+! scope="col"| Node
+! scope="col"| Message ID Range
+|-
+! scope="row"| 1
+| MOTOR
+| 300 - 310
+|-
+! scope="row"| 2
+| SENSOR
+| 200
+|-
+! scope="row"| 3
+| GEO
+| 400 - 450
+|-
+! scope="row"| 4
+| DEBUG
+| 600 - 700
+|-
+|}
 === Hardware Design ===
-<Show your CAN bus hardware design>
+[[File:Can.drawio.png|500px]]
 === DBC File ===
-<Gitlab link to your DBC file>
+[https://gitlab.com/ashley.n.ho/sjtwo-c/-/blob/master/dbc/project.dbc?ref_type=heads Gitlab DBC File]
-<You can optionally use an inline image>
+Shown below are the messages utilized in our DBC file:
+ BO_ 200 SENSOR_SONARS: 4 SENSOR
+  SG_ SENSOR_SONARS_left : 0|10@1+ (1,0) [6|254] "inch" DRIVER
+  SG_ SENSOR_SONARS_right : 10|10@1+ (1,0) [6|254] "inch" DRIVER
+  SG_ SENSOR_SONARS_middle : 20|10@1+ (1,0) [6|254] "inch" DRIVER
+ BO_ 300 MOTOR_CMD: 1 DRIVER
+  SG_ MOTOR_CMD_steer: 0|4@1- (1,0) [-2|2] "" MOTOR
+  SG_ MOTOR_CMD_forward: 4|4@1- (1,0) [-5|5] "" MOTOR
+ BO_ 310 MOTOR_STOP: 1 SENSOR
+  SG_ MOTOR_STOP_stop: 0|1@1+ (1,0) [0|0] "" MOTOR
+ BO_ 400 GPS_NAV: 2 GEO
+  SG_ GPS_NAV_latitude : 0|8@1- (1,0) [-90|90] "" DRIVER
+  SG_ GPS_NAV_longitude : 8|8@1- (1,0) [-180|180] "" DRIVER
+ BO_ 420 GPS_HEADING: 4 SENSOR
+  SG_ GPS_HEADING_RAW_DEGREES: 0|16@1+ (1,0) [0|0] "Degrees" GEO
+ BO_ 430 GEO_STATUS: 4 GEO
+   SG_ GEO_STATUS_COMPASS_HEADING : 0|5@1+ (1,0) [0|18] "Degrees" DRIVER
+   SG_ GEO_STATUS_COMPASS_BEARING : 5|5@1+ (1,0) [0|18] "Degrees" DRIVER
+   SG_ GEO_STATUS_DISTANCE_TO_DESTINATION : 10|16@1+ (0.1,0) [0|0] "Meters" DRIVER
+ BO_ 450 GPS_DESTINATION_LOCATION: 8 DRIVER
+  SG_ GPS_DEST_LATITUDE_SCALED_100000 : 0|32@1- (1,0) [0|0] "Degrees" GEO
+  SG_ GPS_DEST_LONGITUDE_SCALED_100000 : 32|32@1- (1,0) [0|0] "Degrees" GEO
+ BO_ 600 DBG_MSG_MOTOR: 4 MOTOR
+  SG_ SPEED_M_PER_S : 0|32@1+ (0.001,-100) [0|0] "" SENSOR
+ BO_ 700 DBG_MSG_GPS: 3 GEO
+  SG_ DBG_GPS_latitude : 0|8@1- (1,0) [-90|90] "" DBG
+  SG_ DBG_GPS_longitude : 8|8@1- (1,0) [-180|180] "" DBG
+  SG_ DBG_GPS_lock : 16|1@1+ (1,0) [0|0] "" DBG
 <HR>
 <BR/>
-== Sensor ECU ==
-<Picture and link to Gitlab>
+== Sensor and Bridge Controller ECU ==
+[[File:teamxsensors.jpg|500px]] [[File:bluetoothmodule.jpg|400px]]
+[https://gitlab.com/ashley.n.ho/sjtwo-c/-/tree/master/projects/sensor_node?ref_type=heads Gitlab Sensor and Bridge Controller Node Link]
+The sensor node utilized the 10Hz to handle message transmission and reception. Meanwhile, the 1Hz periodics receives the sensor data directly from the utrasonic sensor modules. (see Software Design for more details)
+<syntaxhighlight lang="c">
+void periodic_callbacks__1Hz(uint32_t callback_count) {
+  if (callback_count == 0) {
+    delay__us(450000); // start up delay
+    return;
+  }
+  ultra_sonic_sensor_data_s data;
+  ultrasonic_sensor__run_once();
+}
+</syntaxhighlight>
+<syntaxhighlight lang="c">
+void periodic_callbacks__10Hz(uint32_t callback_count) {
+  sensors__transmit_once();
+  bridge_get_data();
+  sensor_msg_bank__handle_msg();
+  heading_sensor_run_once();
+}
+</syntaxhighlight>
 === Hardware Design ===
+[[File:sensor_design.png|600px]]
 === Software Design ===
-<List the code modules that are being called periodically.>
+[[File:Sw_design_teamx.png]]
+The ultrasonic get sensor data task occurs in the 1hz, but we range 8 times in the 1hz function. The 3 ultrasonic sensors are chained together to prevent crosstalk. The SJ2 board will send a trigger signal to the left sensor which will then trigger the middle sensor, then the left. This process repeats 8 times in 1 second. Due to the chaining, the sample rate is significantly reduced, but the incoming data for each sensor is more accurate. Without the chaining, the sensor readings appear to be unstable.
+The bridge task is responsible for receiving data from the APP via bluetooth. We utilize a Adafruit module (see above for part) which acts as a uart-bluetooth bridge making it extremely easy to integrate into our system without diving too deep into making bluetooth drivers. The main messages we receive are the GPS destination coordinates, and an emergency stop request.
+The emergency stop task is a task that is constantly sending a "stop" flag. This flag is false by default and only set true if received from the APP. Once the vehicle stops, our the sensor node must be manually reset to continue operation.
+==== Sensor Modules ====
+<syntaxhighlight lang="c">
+void ultrasonic_sensor__run_once() {
+  // left, middle, right respectively
+  for (int i = 0; i < 8; i++) {
+    uint16_t adc_raw[3];
+    // start range and wait till all sensors are done
+    ultrasonic_range_once();
+    adc_raw[0] = adc__get_adc_value(ADC__CHANNEL_2);
+    adc_raw[1] = adc__get_adc_value(ADC__CHANNEL_4);
+    adc_raw[2] = adc__get_adc_value(ADC__CHANNEL_5);
+    // printf("adc2: %d\n", adc_raw[0]);
+    sensor_data.left = ((float)adc_raw[0] * SCALE_FACTOR);   // / 2.0;
+    sensor_data.middle = ((float)adc_raw[1] * SCALE_FACTOR); // / 2.0;
+    sensor_data.right = ((float)adc_raw[2] * SCALE_FACTOR);  // / 2.0;
+    if (sensor_data.left < 36) {
+      gpio__reset(board_io__get_led3());
+    } else {
+      gpio__set(board_io__get_led3());
+    }
+    if (sensor_data.middle < 36) {
+      gpio__reset(board_io__get_led2());
+    } else {
+      gpio__set(board_io__get_led2());
+    }
+    if (sensor_data.right < 36) {
+      gpio__reset(board_io__get_led1());
+    } else {
+      gpio__set(board_io__get_led1());
+    }
+  }
+}
+  </syntaxhighlight>
+==== Bridge Controller ====
+<syntaxhighlight lang="c">
+void bridge_get_data(void) {
+  char byte;
+  const uint32_t zero_timeout = 0;
+  while (uart__get(bridge_uart, &byte, zero_timeout)) {
+    printf("received byte: %c\n", byte);
+  }
+}
+  </syntaxhighlight>
+<syntaxhighlight lang="c">
+void bridge_send_data(void *buf, uint8_t buf_size, uint8_t msg_id) {
+  // Format the float value from the buffer
+  char tx_buf[30];
+  if (msg_id == 0) {
+    float speed = *(float *)buf;
+    snprintf(tx_buf, sizeof(tx_buf), "spd: %f\n", (double)speed);
+  } else if (msg_id == 1) {
+    dbc_GEO_STATUS_s *msg = (dbc_GEO_STATUS_s *)buf;
+    snprintf(tx_buf, sizeof(tx_buf), "hd: %d, br: %d\n", msg->GEO_STATUS_COMPASS_HEADING,
+             msg->GEO_STATUS_COMPASS_BEARING);
+  }
+  uart_printf(bridge_uart, "%s", tx_buf);
+  // printf("sent: %s\n", tx_buf);
+}
+  </syntaxhighlight>
+<syntaxhighlight lang="c">
+static void process_uart_data_buf(void) {
+  int temp;
+  char *token;
+  int coord_received = 0;
+  token = strtok(uart_rx_buf, ",");
+  temp = atoi(token);
+  if (temp != 0) {
+    dest_latitude = temp / 1000000.0f;
+    printf("la: %f ", (double)dest_latitude);
+    coord_received++;
+  }
+  token = strtok(NULL, ",");
+  temp = atoi(token);
+  if (temp != 0) {
+    dest_longitude = temp / 1000000.0f;
+    printf("lo: %f\n", (double)dest_longitude);
+    coord_received++;
+  }
+  if (coord_received == 2) {
+    dbc_GPS_DESTINATION_LOCATION_s dest_location;
+    dest_location.GPS_DEST_LATITUDE_SCALED_100000 = dest_latitude * 100000;
+    dest_location.GPS_DEST_LONGITUDE_SCALED_100000 = dest_longitude * 100000;
+    can__msg_t can_msg = {};
+    dbc_message_header_t header;
+    header = dbc_encode_GPS_DESTINATION_LOCATION(can_msg.data.bytes, &dest_location);
+    can_msg.msg_id = header.message_id;
+    can_msg.frame_fields.data_len = header.message_dlc;
+    can__tx(can1, &can_msg, 0);
+  }
+}
+  </syntaxhighlight>
 === Technical Challenges ===
+Our main problems with the sensors occurred once we began outdoor testing. When testing indoors, we encountered no issues with the sensors incorrectly detecting obstacles. However, when moving outdoors, the sensors would detect the ground; thus, we resolved the issue by re-mounting the sensors at an angle in order to avoid detecting the ground. Additionally, we found that when initially calibrating the sensors on startup, there must not be any objects in its way for proper calibration, otherwise we would run into undefined behavior.
-< List of problems and their detailed resolutions>
 <HR>
 <BR/>
 == Motor ECU ==
-<Picture and link to Gitlab>
+[[File:Motormodule.jpg|500px]]
+[https://gitlab.com/ashley.n.ho/sjtwo-c/-/tree/master/projects/motor_node?ref_type=heads Gitlab Motor Node Link]
+The motor node utilized the 10Hz to handle message transmission and reception as well as for setting the PWM value. Meanwhile, the 100Hz periodics processed the inputs and transferred the data received to their respective local data structures (see Software Design for more details).
+<syntaxhighlight lang="c">
+void periodic_callbacks__10Hz(uint32_t callback_count) {
+  motor_msg_bank__handle_msg();
+  motor_msg_bank__service_mia_10hz();
+  motor_pwm__set_pwm();
+  if (callback_count % 7 == 0) {
+    motor_rpm_driver_calc_speed();
+  }
+  motor_speed_pid_run_once();
+}
+</syntaxhighlight>
+<syntaxhighlight lang="c">
+void periodic_callbacks__100Hz(uint32_t callback_count) {
+  motor_pwm__process_input();
+}
+</syntaxhighlight>
 === Hardware Design ===
+The motor is directly connected to the RC car's ESC device, which is what initially controlled the car's PWMs prior to hijacking. The SJ2 now becomes the PWM transmitter as opposed to the remote and sends the corresponding PWMs based on driver signals (see Software Design for more details)
+[[File:motornode.png|600px]]
 === Software Design ===
-<List the code modules that are being called periodically.>
+The motor software takes in driver-motor commands through the CAN bus and based on those commands, modifies the PWMs of the motor and the servo to move the wheels forward, backward, left, or right. We mapped the PWM values (See tables below).
+{| class="wikitable"
+|-
+! scope="col"|
+! scope="col"| Motor PWM
+! scope="col"| Direction
+|-
+! scope="row"| 1
+| 16.2
+| Forward
+|-
+! scope="row"| 2
+| 14.5
+| Backward
+|-
+! scope="row"| 3
+| 15.02
+| Idle
+|-
+|}
+{| class="wikitable"
+|-
+! scope="col"|
+! scope="col"| Servo PWM
+! scope="col"| Direction
+|-
+! scope="row"| 1
+| 11.0
+| Hard Left
+|-
+! scope="row"| 2
+| 13.0
+| Slight Left
+|-
+! scope="row"| 3
+| 15.48
+| Straight
+|-
+! scope="row"| 4
+| 17.0
+| Slight Right
+|-
+! scope="row"| 5
+| 19.0
+| Hard Right
+|-
+|}
+Additionally, we utilized a general state machine that allowed for fluid transitions between forward and reverse (see diagram below). Without a delay in a neutral state, the car's motor would not be able to easily transition from forward to reverse and vice versa, but would rather just stop. As such, we implemented the diagram in the code below and thus allowed for the car to easily transition between the states of forward and reverse.
+[[File:motor_states.png|400px]]
+<syntaxhighlight lang="c">
+void motor_pwm__set_pwm(void) {
+  motor_pwm__set_motor_pwm();
+  motor_pwm__set_servo_pwm();
+}
+  </syntaxhighlight>
+<syntaxhighlight lang="c">
+static void motor_pwm__set_servo_pwm(void) {
+  static float set_servo_duty_cycle = servo_pwm_idle_duty_cycle;
+  if (motor_cmd_local.MOTOR_CMD_steer == 0) {
+    // idle
+    set_servo_duty_cycle = servo_pwm_idle_duty_cycle;
+  } else if (motor_cmd_local.MOTOR_CMD_steer == 1) {
+    // slightly right
+    set_servo_duty_cycle = 17.00;
+  } else if (motor_cmd_local.MOTOR_CMD_steer == 2) {
+    // max right
+    set_servo_duty_cycle = 19.00;
+  } else if (motor_cmd_local.MOTOR_CMD_steer == -1) {
+    // slightly left
+    set_servo_duty_cycle = 13.00;
+  } else if (motor_cmd_local.MOTOR_CMD_steer == -2) {
+    // max left
+    set_servo_duty_cycle = 11.00;
+  }
+  pwm1__set_duty_cycle(servo_pwm, set_servo_duty_cycle);
+}
+  </syntaxhighlight>
+<syntaxhighlight lang="c">
+static void motor_pwm__set_motor_pwm(void) {
+  static float set_motor_duty_cycle = motor_pwm_idle_duty_cycle;
+  if (motor_stop_local.MOTOR_STOP_stop) {
+    motor_speed_pid_set_target_pwm(motor_pwm_idle_duty_cycle);
+  } else {
+    if (!ignore_cmds) {
+      if (motor_cmd_local.MOTOR_CMD_forward == -1) { // Reverse
+        set_motor_duty_cycle = 14.50;
+        if (reverse_flag == false) {
+          motor_speed_pid_set_target_pwm(motor_pwm_idle_duty_cycle);
+          ignore_cmds = true;
+          start_time = sys_time__get_uptime_ms();
+          reverse_flag = true;
+          return;
+        }
+      } else if (motor_cmd_local.MOTOR_CMD_forward == 0) { // Stop
+        set_motor_duty_cycle = motor_pwm_idle_duty_cycle;
+      } else if (motor_cmd_local.MOTOR_CMD_forward == 3) { // Forward
+        set_motor_duty_cycle = 16.2;                       // 15.7 originally?, 16.2
+        if (reverse_flag == true) {
+          motor_speed_pid_set_target_pwm(motor_pwm_idle_duty_cycle);
+          ignore_cmds = true;
+          start_time = sys_time__get_uptime_ms();
+          reverse_flag = false;
+          return;
+        }
+      }
+      motor_speed_pid_set_target_pwm(set_motor_duty_cycle);
+    } else if (sys_time__get_uptime_ms() - start_time >= DIRECTION_CHANGE_DELAY) {
+      ignore_cmds = false;
+    } else {
+    }
+  }
+}
+  </syntaxhighlight>
 === Technical Challenges ===
-< List of problems and their detailed resolutions>
+The main issue we had with the motor controller occurred during PWM hacking because we did not want the motor running the car too fast. As such, we had to guess and check a good PWM value to run the motor so that the car would move at the slowest speed possible without running into issues where it could not move. However, with continual tests, we managed to identify the ideal range we wanted to run the motor.
+Additionally, we encountered minor issues where, when transitioning from reverse to forward and vice versa, the car would go into neutral and never exit from the neutral state. We found that this issue occurred due to the delay being too small, and so the motor would not have enough time to truly go into neutral and thus would remain in that state. To counter this, we increased the delay and also slightly increased the forward PWM in order to combat the potential that it was stopping due to having too low of a PWM value.
 <HR>
 <BR/>
 == Geographical Controller ==
-<Picture and link to Gitlab>
+[[File:Gpsmodule.jpg|400px]] [[File:Compassmodule.jpg|500px]]
+[https://gitlab.com/ashley.n.ho/sjtwo-c/-/tree/master/projects/geo_node?ref_type=heads Gitlab Geo Node Link]
+The Geo node utilized the 10Hz to handle message transmission and reception as well as receiving the compass and GPS data directly from the hardware modules. Meanwhile, the 1Hz periodics processed the GPS lock and would toggle the LED on the SJ2 board accordingly (see Software Design for more details).
+<syntaxhighlight lang = "c">
+void periodic_callbacks__1Hz(uint32_t callback_count) {
+  int gps_lock_status = geo_sensors_gps__get_gps_lock_status();
+  // printf("GPS lock status: %d\n", gps_lock_status);
+  if (!gps_lock_status) {
+    gpio__toggle(board_io__get_led0());
+  } else {
+    gpio__reset(board_io__get_led0());
+  }
+}
+</syntaxhighlight>
+<syntaxhighlight lang = "c">
+void periodic_callbacks__10Hz(uint32_t callback_count) {
+  geo_msg_bank__handle_msg();
+  geo_msg_bank__service_mia_10hz();
+  geo_msg_bank__transmit_msg();
+  geo_sensors_gps__run_once();
+  // geo_sensors_compass_lsm__run_once();
+}
+</syntaxhighlight>
 === Hardware Design ===
+[[File: Geo_HW.png]]
 === Software Design ===
-<List the code modules that are being called periodically.>
+[[File:geo_periodics.png]]
+==== GPS ====
+<syntaxhighlight lang = "c">
+bool geo_sensors_gps__run_once(void) {
+  bool gps_transfer_success = false;
+  gps_transfer_success = geo_sensors_gps__transfer_data_from_uart_driver_to_line_buffer();
+  gps__parse_coordinates_from_line();
+  return gps_transfer_success;
+}
+</syntaxhighlight>
+<syntaxhighlight lang = "c">
+bool geo_sensors_gps__transfer_data_from_uart_driver_to_line_buffer(void) {
+  char byte_read;
+  const uint32_t zero_timeout = 0;
+  bool gps_status_reading = false;
+  while (uart__get(uart_gps, &byte_read, zero_timeout)) {
+    gps_status_reading = true;
+    line_buffer__add_byte(&line, byte_read);
+  }
+  return gps_status_reading;
+}
+</syntaxhighlight>
+<syntaxhighlight lang = "c">
+static void gps__parse_coordinates_from_line(void) {
+  char gps_line[1000];
+  if (line_buffer__remove_line(&line, gps_line, sizeof(gps_line))) {
+    // Check if the line is a GPGGA stream
+    if (strncmp(gps_line, "$GPGGA,", 7) == 0) {
+      char *token;
+      int field_idx = 0;
+      int latitude_flag = 1;
+      int longitude_flag = 1;
+      float latitude = 0.0;
+      float longitude = 0.0;
+      token = strtok(gps_line, ",");
+      while (token != NULL) {
+        token = strtok(NULL, ",");
+        field_idx++;
+        if (field_idx == 2) { // Latitude is field 2 in GPGGA
+          latitude = atof(token);
+        } else if (field_idx == 3) { // N/S direction is field 3 in GPGGA
+          char c = token[0];
+          if (c == 'S') {
+            latitude_flag *= -1;
+          }
+        } else if (field_idx == 4) { // Longitude is field 4 in GPGGA
+          longitude = atof(token);
+        } else if (field_idx == 5) { // E/W direction is field 5 in GPGGA
+          char c = token[0];
+          if (c == 'W') {
+            longitude_flag *= -1;
+          }
+        } else if (field_idx == 6) {
+          char c = token[0];
+          // printf("GPS QUALITY: %c\n", c);
+          if (c == '0') {
+            gps_quality = 0;
+          } else if (c == '1') {
+            gps_quality = 1;
+            // printf("GPS lock successful\n");
+          } else {
+            // printf("Trying to acquire GPS fix\n");
+          }
+        } else if (field_idx > 6) {
+          break;
+        }
+      }
+      int latitude_days = latitude / 100;
+      int longitude_days = longitude / 100;
+      float latitude_minutes = latitude - 3700.00;
+      float longitude_minutes = longitude - 12100.00;
+      latitude_minutes /= 60;
+      longitude_minutes /= 60;
+      parsed_coordinates.latitude = ((1.0 * latitude_days) + latitude_minutes) * latitude_flag;
+      parsed_coordinates.longitude = ((1.0 * longitude_days) + longitude_minutes) * longitude_flag;
+    }
+  }
+</syntaxhighlight>
+==== Compass Module ====
+<syntaxhighlight lang = "c">
+void geo_sensors_compass_lsm__run_once(void) { geo_sensors_compass__read(); }
+</syntaxhighlight>
+<syntaxhighlight lang = "c">
+void geo_sensors_compass__read(void) {
+  uint8_t buffer[6];
+  float mag[3];
+  i2c__read_slave_data(current_i2c, magnetometer_read, LSM303AGR_MAG_OUTX_L_REG, buffer, 6);
+  mag[0] = (int16_t)(buffer[1] << 8 | buffer[0]);
+  mag[1] = (int16_t)(buffer[3] << 8 | buffer[2]);
+  mag[2] = (int16_t)(buffer[5] << 8 | buffer[4]);
+  geo_sensors_compass__calculate_heading(mag);
+}
+</syntaxhighlight>
+<syntaxhighlight lang = "c">
+static void geo_sensors_compass__calculate_heading(float mag[3]) {
+  float magnitude = sqrtf(mag[0] * mag[0] + mag[1] * mag[1] + mag[2] * mag[2]);
+  const float epsilon = 1e-6;
+  if (magnitude < epsilon) {
+    current_compass_heading = 0;
+  } else {
+    float mag_xy = mag[1] / magnitude;
+    float mag_xx = mag[0] / magnitude;
+    current_compass_heading = (atan2(mag_xy, mag_xx)) * 180.0 / PI;
+    if (current_compass_heading < 0) {
+      current_compass_heading = 360 + current_compass_heading;
+    }
+  }
+}
+</syntaxhighlight>
+==== Haversine Algorithm ====
+In the provided function, we use the Haversine algorithm to calculate the shortest distance between two geographical points on Earth, identified by their latitude and longitude. We start by converting these coordinates from degrees to radians and then apply the Haversine formula to determine the distance. Additionally, we calculate the bearing and heading from the current location to the destination.
+<syntaxhighlight lang = "c">
+void geo_logic__haversine_calculation(void) {
+  // Input: Latitude longitude, Output: heading, bearing, distance to destination
+  gps_coordinates_t current_gps = geo_sensors_gps__get_coordinates();
+  float current_latitude = current_gps.latitude;
+  float current_longitude = current_gps.longitude;
+  gps_coordinates_t destination_gps = geo_msg_bank__get_gps_destination_location();
+  float destination_latitude = destination_gps.latitude;
+  float destination_longitude = destination_gps.longitude;
+  // Convert latitudes and longitudes from degrees to radians
+  float phi1 = (float)(current_latitude * (float)PI_VAL / (float)180.0);
+  float phi2 = (float)(destination_latitude * PI_VAL / (float)180.0);
+  float delta_phi = (float)(destination_latitude - current_latitude) * PI_VAL / (float)180.0;
+  float delta_lambda = (float)(destination_longitude - current_longitude) * PI_VAL / (float)180.0;
+  // Haversine formula
+  float a =
+      sin(delta_phi / 2) * sin(delta_phi / 2) + cos(phi1) * cos(phi2) * sin(delta_lambda / 2) * sin(delta_lambda / 2);
+  float c = 2 * atan2(sqrt(a), sqrt(1 - a));
+  distance_to_destination = RADIUS_EARTH_KM * c * 1000;
+  // Bearing calculation
+  float y = sin(delta_lambda) * cos(phi2);
+  float x = cos(phi1) * sin(phi2) - sin(phi1) * cos(phi2) * cos(delta_lambda);
+  float bearing_rad = atan2(y, x);
+  compass_bearing = fmod((bearing_rad * (float)180.0 / (float)PI_VAL + (float)360.0), 360.0);
+  compass_heading = geo_msg_bank__get_heading();
+  current_geo_status.GEO_STATUS_DISTANCE_TO_DESTINATION = distance_to_destination;
+  current_geo_status.GEO_STATUS_COMPASS_BEARING = (uint8_t)(compass_bearing / 20);
+  current_geo_status.GEO_STATUS_COMPASS_HEADING = (uint8_t)(compass_heading);
+}
+</syntaxhighlight>
+==== Checkpoint Algorithm ====
+The checkpoint algorithm is a very simple algo that provides the next "checkpoint" to drive to given the current location and destination coordinates. We first try to find the closest checkpoint, and if it brings us closer to the final destination, then travel to that checkpoint. We repeat this process until no checkpoint can bring us closer and the destination is the final "checkpoint." We use the haversine algorithm to determine how close we are to a checkpoint so that we know we reached it, otherwise we may circle back around to it.
+If no checkpoints are provided in the list, then the car will attempt to navigate to the final destination directly which will likely be very challenging for large obstacles in the path. Initially, we used Euclidian distance to find the closest checkpoint, but raw distance calculated from that formula is not very easy to understand, so we switch to using haversine to get distance in meters.
+<syntaxhighlight lang = "c">
+gps_coordinates_t find_next_point(gps_coordinates_t origin, gps_coordinates_t destination) {
+  gps_coordinates_t closest_point;
+  float min_distance = FLT_MAX;
+  float distance;
+  int checkpoint_idx = -1;
+  for (int i = 0; i < NUM_OF_CHECKPOINTS; i++) {
+    distance = get_distance_between_points(origin, locations_we_can_travel[i]);
+    if (distance < min_distance) {
+      if (get_distance_between_points(origin, locations_we_can_travel[i]) < 5) {
+        printf("reached checkpoint\n");
+        continue;
+      }
+      // Check if point is actually closer to destincation
+      if (get_distance_between_points(locations_we_can_travel[i], destination) <
+          get_distance_between_points(origin, destination)) {
+        min_distance = distance;
+        checkpoint_idx = i;
+        printf("setting checkpoint\n");
+      } else {
+        continue;
+      }
+    }
+  }
+  if (checkpoint_idx < 0) {
+    closest_point = destination;
+    printf("Going destination\n");
+  } else {
+    printf("setting closest_point\n");
+    closest_point = locations_we_can_travel[checkpoint_idx];
+  }
+  printf("p: %f, %f", closest_point.latitude, closest_point.longitude);
+  return closest_point;
+}
+</syntaxhighlight>
 === Technical Challenges ===
-< List of problems and their detailed resolutions>
+Most of our problems occurred due to an inaccurate compass reading. Mainly, the compass heading angles would not return as very stable values, which resulted in unstable driving behavior for the car. We initially thought it would resolve itself with some software calibration; however, we found that even with software calibration for the LSM, it would still be inaccurate and would not even give the full 360 degree heading range. As such, we resolved to simply buying a more expensive and more accurate magnetometer, which solved our issues. The new module returned more stable values, despite it still fluctuating, the angle changing was not enough to affect the driving behavior since we built our module with the intent of not needing the exact degree of the angles. We also found some trouble mounting the compass due to not wanting to have to handle any further offsets after mounting. Because of this, when mounting the compass, we identified where the compass was detecting north and faced the front of the car in that direction. Following that step, we mounted the compass so that it, along with the front of the car, was facing north.
+Additionally, we ran into some errors with the GPS module due to us receiving latitude and longitude values that were miles away from our current location. However, we identified an error on our end where we had misinterpreted the data returned from the GPS module and thus were calculating the wrong latitude and longitude values. Once we identified the error, we found the correct way to extract the correct latitude and longitude values for a more accurate location.
 <HR>
 <BR/>
-<HR>
+== Driver and LCD Module ==
-<BR/>
+[[File:LCDmodule.jpg|500px]]
-== Communication Bridge Controller & LCD ==
-<Picture and link to Gitlab>
+[https://gitlab.com/ashley.n.ho/sjtwo-c/-/tree/master/projects/driver_node?ref_type=heads Gitlab Driver & LCD Node Link]
+The driver node utilized the 10Hz to handle message transmission and reception as well as setting the LCD display for status updates and motor commands. Meanwhile, the 100Hz periodics processed the inputs and transferred the data received to their respective local data structures (see Software Design for more details).
+<syntaxhighlight lang="c">
+void periodic_callbacks__10Hz(uint32_t callback_count) {
+  driver_msg_bank__handle_msg();
+  driver_msg_bank__service_mia_10hz();
+  driver_msg_bank__transmit_msg();
+  i2c_lcd__clear();
+  driver__lcd_display_data();
+}
+</syntaxhighlight>
+<syntaxhighlight lang="c">
+void periodic_callbacks__100Hz(uint32_t callback_count) {
+  driver__process_input();
+}
+</syntaxhighlight>
 === Hardware Design ===
+The driver node, aside from its connection to the CAN bus, is also connected the the LCD module through I2C. the SJ2 board provides the LCD with 3.3V power and sends data through SDA and SCL.
+[[File:driverLCD.png|500px]]
 === Software Design ===
-<List the code modules that are being called periodically.>
-=== Technical Challenges ===
+==== Driver Logic ====
+The driver logic came down to a basic logic (shown in table below) where 0 implies there is no obstacle, and 1 implies an obstacle is present. Depending on each combination of 1's and 0's, the car would determine whether to turn left or right and move forward or backward.
+[[File:driverlogic.png|500px]]
+<syntaxhighlight lang="c">
+dbc_MOTOR_CMD_s driver__get_motor_commands(void) {
+  driver__avoid_obstacle();
+  return motor_commands;}
+  </syntaxhighlight>
+<syntaxhighlight lang="c">
+static void driver__avoid_obstacle(void) {
+  obstacle_below_threshold_s below_thresholds = driver__closest_obstacle();
+  if (!(below_thresholds.MIDDLE) && !(below_thresholds.LEFT) && !(below_thresholds.RIGHT)) {
+    driver__go_to_destination();
+  } else {
+    driver__steering();
+  }
+  driver__led_indicators();}
+  </syntaxhighlight>
+<syntaxhighlight lang="c">
+dbc_MOTOR_CMD_s driver__get_motor_commands(void) {
+  driver__avoid_obstacle();
+  return motor_commands;
+}
+  </syntaxhighlight>
+<syntaxhighlight lang="c">
+// slight turns for destination movement
+static void driver__go_to_destination(void) {
+  int angle_difference = local_geo_status.GEO_STATUS_COMPASS_HEADING - local_geo_status.GEO_STATUS_COMPASS_BEARING;
+  if (local_geo_status.GEO_STATUS_DISTANCE_TO_DESTINATION > 0) {
+    if (angle_difference > 0) {
+      // go right
+      motor_commands.MOTOR_CMD_steer = 1;
+      motor_commands.MOTOR_CMD_forward = 3;
+    } else if (angle_difference < 0) {
+      // go left
+      motor_commands.MOTOR_CMD_steer = -1;
+      motor_commands.MOTOR_CMD_forward = 3;
+    } else { // go straight
+      motor_commands.MOTOR_CMD_steer = 0;
+      motor_commands.MOTOR_CMD_forward = 3;
+    }
+  } else { // reached destination
+    motor_commands.MOTOR_CMD_forward = 0;
+    motor_commands.MOTOR_CMD_steer = 0;
+  }}
+  </syntaxhighlight>
+==== LCD Logic ====
+The LCD printout relied solely on the datasheet. However, some optimizations were made in order to simplify the LCD methods. Specifically the starting_position() function allowed for eash access to each line of the LCD's printout without needing to write data to the addresses every time we wanted to print onto a specific line. Additionally, the lcd__printf() was a minor optimization to allow for us to print a string rather than per character and calling the send_data() function for every character.
+<syntaxhighlight lang="c">
+void driver__lcd_display_data(void) {
+  char debug_str[15];
+  if (local_motor_stop.MOTOR_STOP_stop) {
+    i2c_lcd__clear();
+    i2c_lcd__starting_position(0, 0);
+    i2c_lcd__printf("   MOTOR STOPPED!");
+    i2c_lcd__starting_position(1, 0);
+    i2c_lcd__printf(" PLS RESTART BRIDGE");
+    i2c_lcd__starting_position(1, 0);
+    i2c_lcd__printf("     TO CONTINUE");
+  } else if (local_geo_status.GEO_STATUS_DISTANCE_TO_DESTINATION) {
+    sprintf(debug_str, "%.1lf", local_geo_status.GEO_STATUS_DISTANCE_TO_DESTINATION);
+    i2c_lcd__starting_position(0, 0);
+    i2c_lcd__printf("   PROJECT TEAM X");
+    i2c_lcd__starting_position(1, 0);
+    i2c_lcd__printf("Distance:");
+    i2c_lcd__starting_position(1, 10);
+    i2c_lcd__printf(debug_str);
-< List of problems and their detailed resolutions>
+    sprintf(debug_str, "%d", (int)local_geo_status.GEO_STATUS_COMPASS_HEADING);
+    i2c_lcd__starting_position(2, 0);
+    i2c_lcd__printf("     Heading:");
+    i2c_lcd__starting_position(2, 13);
+    i2c_lcd__printf(debug_str);
-<HR>
+    sprintf(debug_str, "%d", (int)local_geo_status.GEO_STATUS_COMPASS_BEARING);
-<BR/>
+    i2c_lcd__starting_position(3, 0);
-== Master Module ==
+    i2c_lcd__printf("     Bearing:");
+    i2c_lcd__starting_position(3, 13);
+    i2c_lcd__printf(debug_str);
+  } else if (local_geo_status.GEO_STATUS_DISTANCE_TO_DESTINATION < 2) {
+    i2c_lcd__clear();
+    i2c_lcd__starting_position(1, 0);
+    i2c_lcd__printf("DESTINATION REACHED!");
+  }
+}
+</syntaxhighlight>
+<syntaxhighlight lang="c">
+void i2c_lcd__printf(char *line) {
+  while (*line)
+    i2c_lcd__send_data(*line++);
+}
+</syntaxhighlight>
+<syntaxhighlight lang="c">
+void i2c_lcd__starting_position(uint8_t y, uint8_t x) {
-<Picture and link to Gitlab>
+  char Starting_Addr = 0x80;
+  switch (y) {
+  case 0:
+    Starting_Addr |= 0x00;
+    break;
+  case 1:
+    Starting_Addr |= 0x40;
+    break;
+  case 2:
+    Starting_Addr |= 0x14;
+    break;
+  case 3:
+    Starting_Addr |= 0x54;
+    break;
+  default:;
+  }
-=== Hardware Design ===
+  Starting_Addr += x;
-=== Software Design ===
+  i2c_lcd__send_command(0x80 | Starting_Addr);
-<List the code modules that are being called periodically.>
+}
+</syntaxhighlight>
 === Technical Challenges ===
-< List of problems and their detailed resolutions>
+Most of the issues surrounding the driver node occurred after field testing. We found there were some issues regarding how soon the driver made the decision compared to when it received the sensor data. As such, we made adjustments so that, despite the delay, there would be time for the driver to receive the sensor data, identify the correct action to take, and then move the wheels. Overall, our driver node worked as expected once we started field testing due to the multitude of unit tests that were done to ensure proper logic. We also identified some minor issues when testing the reverse; however, this was easily fixed by modifying the sensor priorities so that the middle sensor's values, when below the threshold, had the most precedence. In this way, the car would not fluctuate between going forward and reverse when there was clearly an object in front of it.
+Additionally, we ran into issues integrating the LCD screen through I2C. The screen's slave address would not get detected, despite the device having the proper connections and power supply. However, it was found to have just been a hardware issue and worked with a different I2C LCD device.
 <HR>
 <BR/>
 == Mobile Application ==
-<Picture and link to Gitlab>
+[[File:App_flow.png]]
-=== Hardware Design ===
+[https://gitlab.com/ashley.n.ho/sjtwo-c/-/tree/master/mobile_app?ref_type=heads Gitlab Mobile App Node Link ]
 === Software Design ===
-<List the code modules that are being called periodically.>
+The iOS Mobile App was designed using Swift. The primary purpose of the app was to connect to the Bridge Controller via bluetooth and send GPS destination and emergency stop message and to receive and display geo controller status heading and bearing data.
+==== Scan Bluetooth Devices ====
+<syntaxhighlight lang="swift">
+ @IBAction func buttonPressed(_ sender: UIButton) {
+        print("Scan bluetooth devices Button pressed")
+        // Start scanning for Bluetooth devices if Bluetooth is turned on
+        if centralManager.state == .poweredOn {
+            centralManager.scanForPeripherals(withServices: nil, options: nil)
+            print("Scanning for Bluetooth devices...")
+        } else {
+            print("Bluetooth is not turned on")
+        }
+    }
+</syntaxhighlight>
+<syntaxhighlight lang="swift">
+extension ViewController: CBCentralManagerDelegate {
+    func centralManagerDidUpdateState(_ central: CBCentralManager) {
+        switch central.state {
+        case .poweredOn:
+            print("Bluetooth is On")
+        case .poweredOff:
+            print("Bluetooth is Off")
+        case .resetting:
+            print("Bluetooth is Resetting")
+        case .unauthorized:
+            print("Bluetooth not authorized")
+        case .unsupported:
+            print("Bluetooth not supported")
+        case .unknown:
+            print("Bluetooth unknown state")
+        @unknown default:
+            print("A new case was added that is not handled")
+        }
+    }
+    func centralManager(_ central: CBCentralManager, didDiscover peripheral: CBPeripheral, advertisementData: [String : Any], rssi RSSI: NSNumber) {
+        if let name = peripheral.name, name != "Unknown Device" {
+            // Avoid adding duplicates
+            if !discoveredDevices.contains(where: { $0.identifier == peripheral.identifier }) {
+                discoveredDevices.append(peripheral)
+                DispatchQueue.main.async { [weak self] in self?.displayContent.reloadData()
+                }
+            }
+        }
+    }
+    func centralManager(_ central: CBCentralManager, didConnect peripheral: CBPeripheral) {
+        print("Connected to peripheral: \(peripheral)")
+        selectedPeripheral = peripheral // Make sure to store the reference to the connected didFailToConnectperipheral
+        peripheral.delegate = self // Set the delegate to self for handling peripheral events
+        peripheral.discoverServices(nil)
+    }
+    func centralManager(_ central: CBCentralManager, didDisconnectPeripheral peripheral: CBPeripheral, error: Error?) {
+        print("Disconnected from peripheral: \(peripheral)")
+        if let error = error {
+            print("Error: \(error.localizedDescription)")
+        }
+    }
+    func centralManager(_ central: CBCentralManager, didFailToConnect peripheral: CBPeripheral, error: Error?) {
+        print("Failed to connect to peripheral: \(peripheral), error: \(error?.localizedDescription ?? "Unknown error")")
+        // Present an alert to the user with the option to try connecting again
+        let alert = UIAlertController(title: "Connection Failed", message: "Failed to connect to the selected device. Would you like to try again?", preferredStyle: .alert)
+        // Add a "Try Again" action to the alert
+        alert.addAction(UIAlertAction(title: "Try Again", style: .default) { _ in
+            // Retry connecting to the selected peripheral
+            central.connect(peripheral, options: nil)
+        })
+        // Add a "Cancel" action to the alert
+        alert.addAction(UIAlertAction(title: "Cancel", style: .cancel, handler: nil))
+        // Present the alert
+        self.present(alert, animated: true, completion: nil)
+    }
+}
+</syntaxhighlight>
+==== Set GPS Desination ====
+<syntaxhighlight lang="swift">
+import UIKit
+import MapKit
+protocol MapViewControllerDelegate: AnyObject {
+    func didChooseLocation(latitude: Double, longitude: Double)
+}
+class CustomMapViewController: UIViewController, MKMapViewDelegate {
+    @IBOutlet weak var mapView: MKMapView!
+    weak var delegate: MapViewControllerDelegate?
+    var lastSelectedLatitude: Double?
+    var lastSelectedLongitude: Double?
+    override func viewDidLoad() {
+        super.viewDidLoad()
+        mapView.delegate = self
+        print("Map View loaded!")
+        // Add a tap gesture recognizer to the map view
+        let tapRecognizer = UITapGestureRecognizer(target: self, action: #selector(handleMapTap(_:)))
+        mapView.addGestureRecognizer(tapRecognizer)
+        // Define the center of the region your map should display
+        // 37.33919199814887, -121.88103575173972
+        let center = CLLocationCoordinate2D(latitude: 37.33919199814887, longitude: -121.88103575173972) // SJSU parking lot
+        // Set the region of the map
+        let region = MKCoordinateRegion(center: center, span: span)
+        mapView.setRegion(region, animated: true)
+    }
+    @objc func handleMapTap(_ gestureReconizer: UITapGestureRecognizer) {
+        let location = gestureReconizer.location(in: mapView)
+        let coordinate = mapView.convert(location, toCoordinateFrom: mapView)
+        // Remove all existing annotations
+        mapView.removeAnnotations(mapView.annotations)
+        // Add annotation:
+        let annotation = MKPointAnnotation()
+        annotation.coordinate = coordinate
+        mapView.addAnnotation(annotation)
+        lastSelectedLatitude = coordinate.latitude
+        lastSelectedLongitude = coordinate.longitude
+        print("Latitude: \(coordinate.latitude), Longitude: \(coordinate.longitude)")
+    }
+    @IBAction func buttonPressed(_ sender: UIButton) {
+        print("Sending GPS destination location to Bridge Controller!")
+        if let currentlatitude = lastSelectedLatitude, let currentlongitude = lastSelectedLongitude {
+            delegate?.didChooseLocation(latitude: currentlatitude, longitude: currentlongitude)
+            print("Coordinates sent: Latitude: \(currentlatitude), Longitude: \(currentlongitude)")
+        } else {
+            print("No location selected.")
+        }
+    }
+}
+</syntaxhighlight>
+==== Send Emergency Stop ====
+<syntaxhighlight lang="swift">
+@IBAction func buttonPressed2(_ sender: UIButton) {
+        print("STOP Button pressed")
+        sendStopToPeripheral()
+    }
+</syntaxhighlight>
+<syntaxhighlight lang="swift">
+extension ViewController {
+    func sendStopToPeripheral() {
+        guard let peripheral = selectedPeripheral,
+              let characteristic = writeCharacteristic,
+              characteristic.properties.contains(.write) || characteristic.properties.contains(.writeWithoutResponse),
+              let stopData = "S".data(using: .utf8),
+              let stringRepresentation = String(data: stopData, encoding: .utf8) else {
+                print("Cannot send data: Peripheral or characteristic not set up correctly.")
+            return
+        }
+        peripheral.writeValue(stopData, for: characteristic, type: .withResponse) // or .withoutResponse
+        print("stopData sent: \(stringRepresentation)")
+        if characteristic.uuid == CBUUID(string: "6E400002-B5A3-F393-E0A9-E50E24DCCA9E") {
+            //writeCharacteristic = characteristic
+            print("Adafruit BLE write characteristic FOUND")
+            peripheral.writeValue(stopData, for: characteristic, type: .withResponse) // or .withoutResponse
+            print("stopData sent: \(stopData)")
+            print("stopData sent str: \(stringRepresentation)")
+        }
+        else{
+            print("Adafruit BLE write characteristic NOT FOUND")
+        }
+    }
+}
+</syntaxhighlight>
+==== Receive GEO Status ====
+<syntaxhighlight lang="swift">
+func peripheral(_ peripheral: CBPeripheral, didDiscoverCharacteristicsFor service: CBService, error: Error?) {
+    if let error = error {
+        print("Error discovering characteristics: \(error.localizedDescription)")
+    }
+    guard let characteristics = service.characteristics else {
+        print("No characteristics discovered for service: \(service.uuid)")
+        return
+    }
+    for characteristic in characteristics {
+        print("Discovered characteristic: \(characteristic.uuid)")
+        // Check if this characteristic supports write operations
+        if characteristic.properties.contains(.write) || characteristic.properties.contains(.writeWithoutResponse) {
+            writeCharacteristic = characteristic
+            print("Write characteristic found: \(characteristic.uuid)")
+        }
+        if characteristic.uuid == CBUUID(string: "6E400003-B5A3-F393-E0A9-E50E24DCCA9E") {
+            readCharacteristic = characteristic
+            print("Read characteristic found: \(characteristic.uuid)")
+            // Now that we have the read characteristic, we can read data
+            peripheral.setNotifyValue(true, for: characteristic) // Enable notifications for this characteristic
+            peripheral.readValue(for: characteristic) // Read the initial value
+            print("Reading data...")
+        }
+    }
+}
+</syntaxhighlight>
 === Technical Challenges ===
-< List of problems and their detailed resolutions>
+The first challenge we encountered involved identifying the read/write characteristics of the scanned peripherals. The UUIDs for the read and write characteristics weren't being detected when sifting through nearby Bluetooth devices. To resolve this, we used a different Bluetooth testing app that successfully parsed and identified all relevant UUIDs. Subsequently, we hardcoded these UUIDs into our Bluetooth module to enable data transmission and reception.
+The second issue arose with the transmission of latitude and longitude coordinates selected on the map view. Since the map view operated as a separate screen within the app, the latitude and longitude values from the dropped pin were not accessible from the main view controller screen. To address this, we implemented a singleton to store these coordinates globally, allowing them to be accessed and updated across different screens effectively.
 <BR/>
@@ Line 346: / Line 1,406: @@
 <HR>
 <BR/>
 == Conclusion ==
-<Organized summary of the project>
+Overall, through the course of this project, we learned a lot of different types of skills. Starting with the obvious, we learned better coding habits such as code modularization and code decoupling. We also understood how to utilize the CAN bus and messages in addition to PWM hacking for the RC car. In the scope of the project, we learned communication and group coordination and distribution skills. Although we had a bit of a rough start, as the project continued, we better understood how to organize weekly goals and tasks that needed to be done and properly distributed these tasks to each member. In addition, we learned how to collaborate with each other to build the RC car.
-<What did you learn?>
 === Project Video ===
+[https://drive.google.com/file/d/1A88K5aRfS_7tnjLPoShG8fn4YsLxWrRU/view?usp=drive_link Demo]
 === Project Source Code ===
-=== Advise for Future Students ===
+[https://gitlab.com/ashley.n.ho/sjtwo-c/-/tree/master?ref_type=heads Team X Gitlab Link ]
-<Bullet points and discussion>
+=== Advice for Future Students ===
+* Start early! Order things as soon as you have your team, and keep track of finances for reimbursements
+* Unit-testing lets you know the obstacle avoidance works the way you generally want it to and saves a lot of time when field testing
+* Try to keep the logic simple, over-complicating the code modules makes your debugging time a lot harder since you won't know where things went wrong
+* Avoid the LSM compass where possible: The heading angles are not stable, which caused issues for us when handling the "Going to Destination" logic
+* Take advantage of the past reports! Because so many people have done this project, there are a lot of mistakes that have occurred that you can avoid by reading the past reports
 === Acknowledgement ===
+Thank you Preet for the class and for guiding us through the process of building the RC car.
 === References ===
+. [https://maxbotix.com/pages/lv-maxsonar-ez-datasheet Ultrasonic Sensors Datasheet]
+<BR>
+. [https://stackoverflow.com/questions/36254363/how-to-convert-latitude-and-longitude-of-nmea-format-data-to-decimal Convert NMEA to Latitude Longitude]
+<BR>
+. [https://stackoverflow.com/questions/48663880/gps-nmea-output-getting-valid-gpgsv-but-not-valid-gpgga-gprmc GPS Position Fixing]
+<BR>
+. [https://www.mouser.com/datasheet/2/783/BST-BMM150-DS001-01-786480.pdf BMM150 Datasheet]
+<BR>
+. [http://www.handsontec.com/dataspecs/I2C_2004_LCD.pdf  LCD Datasheet]
+<BR>
+. [https://controllerstech.com/lcd-20x4-using-i2c-with-stm32/ LCD Display Initialization and Configuration Example Tutorial]
+<BR>
+. [http://socialledge.com/sjsu/index.php/Industrial_Application_using_CAN_Bus#Class_Project_Reports Previous Project Reports]

Difference between revisions of "S24: Team X"

Latest revision as of 03:52, 23 May 2024

Contents

Project Title

Abstract

Introduction

Team Members & Responsibilities

Schedule

Parts List & Cost

CAN Communication

Hardware Design

DBC File

Sensor and Bridge Controller ECU

Hardware Design

Software Design

Sensor Modules

Bridge Controller

Technical Challenges

Motor ECU

Hardware Design

Software Design

Technical Challenges

Geographical Controller

Hardware Design

Software Design

GPS

Compass Module

Haversine Algorithm

Checkpoint Algorithm

Technical Challenges

Driver and LCD Module

Hardware Design

Software Design

Driver Logic

LCD Logic

Technical Challenges

Mobile Application

Software Design

Scan Bluetooth Devices

Set GPS Desination

Send Emergency Stop

Receive GEO Status

Technical Challenges

Conclusion

Project Video

Project Source Code

Advice for Future Students

Acknowledgement

References

Navigation menu

Search