Difference between revisions of "S24: Team Zero"

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== Project Title ==
 
== Project Title ==
−
<Team Name>
+
TEAM ZERO
  
 
<HR>
 
<HR>
 
<BR/>
 
<BR/>
 +
 
== Abstract ==
 
== Abstract ==
−
<2-3 sentence abstract>
+
Team Zero's Self driving RC car, as the name states, is an autonomous vehicle designed to navigate to a given specified destination successfully, avoiding obstacles along its way. The car's infrastructure is built upon four key components: the Driver, Sensor and Bridge, Geo, and Motor nodes, which communicate internally via a CAN Bus and with the user via a mobile app. The vehicle continuously senses and processes all the information from these nodes to make decisions to ensure it stays on course and reaches its destination. It is built on a hobby-grade RC car chassis, modified with the necessary components and adjustments to fulfill its primary objectives of autonomous navigation and obstacle avoidance.
  
 
=== Introduction ===
 
=== Introduction ===
Line 11: Line 12:
 
The project was divided into N modules:
 
The project was divided into N modules:
  
−
* Sensor ...
+
* Geographical Controller and LCD
−
* Motor..
+
* Motor Controller
−
* ...
+
* Sensor-Bridge Controller
−
* Android
+
* Driver Controller
 +
* Mobile Application
  
 
=== Team Members & Responsibilities ===
 
=== Team Members & Responsibilities ===
−
<Team Picture>
 
  
−
Gitlab Project Link - [https://gitlab.com/...]
+
[[File:team_zero_image.jpeg]]
 +
 
 +
Gitlab Project Link - [https://gitlab.com/Ouriquco/cmpe_243_team_zero]
 
<BR/>
 
<BR/>
  
−
<Provide ECU names and members responsible>
+
Cody Ourique [https://gitlab.com/Ouriquco]
−
<One member may participate in more than one ECU>
+
* Geo controller
−
 
+
* Compass,GPS and LCD interfacing
−
* Sensor
+
* Hardware design, development and mounting
−
** Link to Gitlab user1
+
* LCD modules
−
** Link to Gitlab user2
+
* Unit Testing
−
 
 
−
* 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
+
Anusha Arunnandi [https://gitlab.com/anusha.arunnandi]
−
** Link to Gitlab user1
+
* Bridge-Sensor controller
−
** Link to Gitlab user2
+
* Ultrasonic range finder and bluetooth interfacing
−
 
+
* Web application
−
* Testing Team
+
* Unit Testing
−
** Link to Gitlab user1
+
−
** Link to Gitlab user2
+
Chaitanya Battula [https://gitlab.com/chaitsbattula]
 +
* Driver controller
 +
* Motor controller
 +
* RPM sensor, ESC, and servo motor interfacing
 +
* Unit Testing
 +
 +
Rohit Duvvuru [https://gitlab.com/rohitduvvuru]
 +
* Unit Testing 
  
 
<HR>
 
<HR>
Line 64: Line 62:
 
|-
 
|-
 
! scope="row"| 1
 
! scope="row"| 1
−
| 09/15/2017
+
| 03/03/2024
−
| 09/16/2017
+
| 03/09/2024
 
|
 
|
 
* Read previous projects, gather information and discuss among the group members.
 
* Read previous projects, gather information and discuss among the group members.
 
* Distribute modules to each team member.
 
* Distribute modules to each team member.
 +
* Decide on list of parts to be used.
 +
* Learn to use Busmaster.
 +
* Build db9 connector and connect to Busmaster.
  
−
| Completed
+
| <font color = "green">Completed
 
|-
 
|-
 
! scope="row"| 2
 
! scope="row"| 2
−
| 09/17/2017
+
| 03/10/2024
−
| 10/03/2017
+
| 03/16/2024
 
|
 
|
 +
* Order sensor parts, RC car, and other items from list.
 +
* Implement initial DBC file.
 +
* Complete implementation of controller interfaces using random values and communicating over CAN Bus with DBC.
 +
 +
| <font color = "red">Incomplete
 +
|-
 +
! scope="row"| 3
 +
| 03/17/2024
 +
| 03/23/2024
 
|
 
|
 +
* Receive all parts from list.
 +
* Start hardware prototype design.
 +
* Integrate real-time sensor values into Sensor controller interface.
 +
* Connect Motor, Driver, and Sensor modules over CAN Bus and verify their messages.
 +
 +
| <font color = "red">Incomplete
 +
|-
 +
! scope="row"| 4
 +
| 03/24/2024
 +
| 03/30/2024
 +
|
 +
* Connect geographical modules over CAN Bus and verify messages.
 +
* Connect sensors to RC car.
 +
* Prototype hardware components on bread board.
 +
 +
| <font color = "red">Incomplete
 +
|-
 +
! scope="row"| 5
 +
| 03/31/2024
 +
| 04/06/2024
 +
|
 +
* Connect sensors to RC car/perf board.
 +
 +
| <font color = "red">Incomplete
 +
|-
 +
! scope="row"| 6
 +
| 04/07/2024
 +
| 04/13/2024
 +
|
 +
* Start working on basic implementation of obstacle avoidance algorithm.
 +
 +
| <font color = "red">Incomplete
 +
|-
 +
! scope="row"| 7
 +
| 04/14/2024
 +
| 04/20/2024
 +
|
 +
*
 +
 +
| <font color = "red">Incomplete
 +
|-
 +
! scope="row"| 8
 +
| 04/21/2024
 +
| 04/27/2024
 +
|
 +
* Interface Bluetooth connection with Sensor_Bridge controller.
 +
 +
| <font color = "red">Incomplete
 +
|-
 +
! scope="row"| 9
 +
| 04/28/2024
 +
| 05/04/2024
 +
|
 +
*
 +
 +
| <font color = "red">Incomplete
 +
|-
 +
! scope="row"| 10
 +
| 05/05/2024
 +
| 05/11/2024
 +
|
 +
*
 +
 +
| <font color = "red">Incomplete
 +
|-
 +
! scope="row"| 11
 +
| 05/12/2024
 +
| 05/18/2024
 +
|
 +
*
 +
 +
| <font color = "red">Incomplete
 +
|-
 +
! scope="row"| 12
 +
| 05/19/2024
 +
| 05/25/2024
 +
|
 +
*
 +
 +
| <font color = "red">Incomplete
 
|-
 
|-
 
|}
 
|}
Line 82: Line 172:
 
<HR>
 
<HR>
 
<BR/>
 
<BR/>
 +
 
== Parts List & Cost ==
 
== Parts List & Cost ==
 
{| class="wikitable"
 
{| class="wikitable"
Line 92: Line 183:
 
|-
 
|-
 
! scope="row"| 1
 
! scope="row"| 1
−
| RC Car
+
| RC car
−
| Traxxas
+
| Traxxas [https://traxxas.com/products/models/electric/58034-8-slash]
 
| 1
 
| 1
−
| $250.00
+
| $239.95
 
|-
 
|-
 
! scope="row"| 2
 
! scope="row"| 2
−
| CAN Transceivers MCP2551-I/P
+
| RPM sensor
−
| Microchip [http://www.microchip.com/wwwproducts/en/en010405]
+
| Traxxas [https://traxxas.com/products/parts/telemetry/6520]
−
| 8
+
| 1
−
| Free Samples
+
| $12.00
 +
|-
 +
! scope="row" | 3
 +
| GPS Breakout Board
 +
| Adafruit [https://www.amazon.com/dp/B01H1R8BK0?psc=1&ref=ppx_yo2ov_dt_b_product_details]
 +
| 1
 +
| $54.95
 +
|-
 +
! scope="row" | 4
 +
| PCB prototype circuit board
 +
| A1 Cables N PCBs [https://www.amazon.com/dp/B08WJBS4HK?psc=1&ref=ppx_yo2ov_dt_b_product_details]
 +
| 1
 +
| $8.57
 +
|-
 +
! scope="row" | 5
 +
| Plexiglass
 +
| Lesnlok [https://www.amazon.com/dp/B097JQ3F1N?ref=ppx_yo2ov_dt_b_product_details&th=1]
 +
| 1
 +
| $9.98
 +
|-
 +
! scope="row" | 6
 +
| Wireless bluetooth RF transceiver
 +
| HiLetgo [https://www.amazon.com/gp/product/B071YJG8DR/ref=ppx_yo_dt_b_search_asin_image?ie=UTF8&psc=1]
 +
| 1
 +
| $9.95
 +
|-
 +
! scope="row" | 7
 +
| Compass
 +
| Adafruit [https://www.adafruit.com/product/4413]
 +
| 1
 +
| $5.95
 +
|-
 +
! scope="row" | 8
 +
| Ultrasonic range finder
 +
| Adafruit [https://www.adafruit.com/product/172]
 +
| 4
 +
| $114.00
 +
|-
 +
! scope="row" | 8
 +
| Potentiometer
 +
| Amazon [https://www.amazon.com/dp/B082F9MVV9?psc=1&ref=ppx_yo2ov_dt_b_product_details]
 +
| 1
 +
| $9.99
 +
|-
 +
! scope="row" | 8
 +
| 2 Pack 15000mAh power bank
 +
| Amazon [https://www.amazon.com/dp/B0CF3WGHWN?ref=ppx_yo2ov_dt_b_product_details&th=1]
 +
| 1
 +
| $19.99
 +
|-
 +
! scope="row" | 8
 +
| GPS Antenna Mount
 +
| Honbay [https://www.amazon.com/dp/B07QY7J1L5?psc=1&ref=ppx_yo2ov_dt_b_product_details]
 +
| 2
 +
| $7.29
 +
|-
 +
! scope="row" | 8
 +
| I2C Qwiic Cable Kit
 +
| Amazon [https://www.amazon.com/dp/B08HQ1VSVL?psc=1&ref=ppx_yo2ov_dt_b_product_details]
 +
| 1
 +
| $9.99
 +
|-
 +
! scope="row" | 8
 +
| Black Foam Padding
 +
| Amazon [https://www.amazon.com/dp/B0C2HLR64X?ref=ppx_yo2ov_dt_b_product_details&th=1]
 +
| 1
 +
| $11.99
 +
|-
 +
! scope="row" | 8
 +
| Traxxas 6537 Wire Retainers
 +
| Amazon [https://www.amazon.com/dp/B0081GB5FO?psc=1&ref=ppx_yo2ov_dt_b_product_details]
 +
| 1
 +
| $6.95
 +
|-
 +
! scope="row" | 8
 +
| USB Micro-B Breakout Board
 +
| Adafruit [https://www.amazon.com/dp/B00KLDPZVU?psc=1&ref=ppx_yo2ov_dt_b_product_details]
 +
| 1
 +
| $4.88
 +
|-
 +
! scope="row" | 8
 +
| 24 awg Wire Solid Core
 +
| Amazon [https://www.amazon.com/dp/B07V1D82HM?ref=ppx_yo2ov_dt_b_product_details&th=1]
 +
| 1
 +
| $14.99
 +
|-
 +
! scope="row" | 8
 +
| ELEGOO 6PCS 170 tie-Points Mini Breadboard
 +
| Amazon [https://www.amazon.com/dp/B09ZQPRFTB?psc=1&ref=ppx_yo2ov_dt_b_product_details]
 +
| 1
 +
| $6.98
 +
|-
 +
! scope="row" | 8
 +
| GPS Antenna
 +
| Amazon [https://www.amazon.com/dp/B083D59N55?ref=ppx_yo2ov_dt_b_product_details&th=1]
 +
| 1
 +
| $10.99
 +
|-
 +
! scope="row" | 8
 +
| Standoffs
 +
| Amazon [https://www.amazon.com/dp/B098XTWYVS?psc=1&ref=ppx_yo2ov_dt_b_product_details]
 +
| 1
 +
| $22.96
 +
|-
 +
! scope="row" | 8
 +
| Breadboard Wires
 +
| Amazon [https://www.amazon.com/dp/B0BRTJXND9?ref=ppx_yo2ov_dt_b_product_details&th=1]
 +
| 1
 +
| $5.97
 +
|-
 +
! scope="row" | 8
 +
| 3/16 inch fiberglass rod
 +
| TAP plastics
 +
| 1
 +
| $5.11
 
|-
 
|-
 
|}
 
|}
Line 107: Line 312:
 
<HR>
 
<HR>
 
<BR/>
 
<BR/>
−
== Printed Circuit Board  ==
+
 
−
<Picture and information, including links to your PCB>
+
== Prototype Circuit Board  ==
 +
 
 +
This prototype circuit board was carefully designed so that it could power all the microcontrollers, compass module, GPS module, bluetooth module, ultrasonic sensors and the LCD. In addition, the board has 4 slots for CAN tranceivers and an integrated CAN bus line. The board has a common ground line for all connected devices and has a total of 20 available sockets. Also, the board has 3.3V power and has 20 open sockets. Additionally, the board has 5V power with 4 available sockets delivered via micro USB.
 +
 
 +
[[File:prototype_board_front.jpg]]
 +
[[File:prototype_board_back.jpg]]
 +
 
 
<br>
 
<br>
  
 
<HR>
 
<HR>
 
<BR/>
 
<BR/>
 +
 
== CAN Communication ==
 
== CAN Communication ==
 
<Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.>
 
<Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.>
 +
The microcontrollers communicate using the CAN bus. Each controller is sending or receiving CAN messages through periodic callback functions.
 +
 +
<h3>Geological Controller CAN Messages:</h3>
 +
    <ul>
 +
        <li>GEO_READINGS</li>
 +
        <li>GEO_DATA_TO_DRIVER_AND_BRIDGE</li>
 +
        <li>GEO_DEBUG_MESSAGE</li>
 +
    </ul>
 +
 +
<h3>Sensor_Bridge Controller CAN Messages:</h3>
 +
    <ul>
 +
        <li>SENSOR_ULTRA_SONIC</li>
 +
        <li>SENSOR_BATTERY</li>
 +
        <li>BRIDGE_DATA_TRANSFER</li>
 +
    </ul>
 +
 +
<h3>Motor Controller CAN Messages:</h3>
 +
    <ul>
 +
        <li>MOTOR_READINGS</li>
 +
    </ul>
 +
 +
<h3>Driver Controller CAN Messages:</h3>
 +
    <ul>
 +
        <li>DRIVER_HEARTBEAT</li>
 +
        <li>MOTOR_CMD</li>
 +
    </ul>
 +
  
 
=== Hardware Design ===
 
=== Hardware Design ===
−
<Show your CAN bus hardware design>
+
 
 +
[[File:CAN_tranceiver_no_wire.jpg]]
 +
[[File:CAN_tranceivers.jpeg]]
  
 
=== DBC File ===
 
=== DBC File ===
−
<Gitlab link to your DBC file>
+
[https://gitlab.com/Ouriquco/cmpe_243_team_zero/-/blob/main/dbc/project.dbc Gitlab link to DBC file]
−
<You can optionally use an inline image>
+
<pre>
 +
VERSION ""
 +
 
 +
NS_ :
 +
BA_
 +
BA_DEF_
 +
BA_DEF_DEF_
 +
BA_DEF_DEF_REL_
 +
BA_DEF_REL_
 +
BA_DEF_SGTYPE_
 +
BA_REL_
 +
BA_SGTYPE_
 +
BO_TX_BU_
 +
BU_BO_REL_
 +
BU_EV_REL_
 +
BU_SG_REL_
 +
CAT_
 +
CAT_DEF_
 +
CM_
 +
ENVVAR_DATA_
 +
EV_DATA_
 +
FILTER
 +
NS_DESC_
 +
SGTYPE_
 +
SGTYPE_VAL_
 +
SG_MUL_VAL_
 +
SIGTYPE_VALTYPE_
 +
SIG_GROUP_
 +
SIG_TYPE_REF_
 +
SIG_VALTYPE_
 +
VAL_
 +
VAL_TABLE_
 +
 
 +
BS_:
 +
 
 +
BU_: DBG DRIVER MOTOR SENSOR_BRIDGE GEO
 +
 
 +
BO_ 100 DRIVER_HEARTBEAT: 1 DRIVER
 +
SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" SENSOR_BRIDGE,MOTOR
 +
 
 +
BO_ 101 MOTOR_CMD: 1 DRIVER
 +
SG_ MOTOR_CMD_steer : 0|4@1- (1,0) [-5|5] "steering direction" MOTOR
 +
SG_ MOTOR_CMD_drive : 4|4@1+ (0.1,-5) [-5|5] "kph" MOTOR
 +
 
 +
BO_ 102 MOTOR_READINGS: 4 MOTOR
 +
SG_ MOTOR_READINGS_steer_degrees : 0|4@1- (1,0) [-5|5] "steer direction" DRIVER
 +
SG_ MOTOR_READINGS_speed : 4|4@1+ (0.1,-5) [-5|5] "kph" DRIVER
 +
 
 +
BO_ 200 SENSOR_ULTRA_SONIC: 8 SENSOR_BRIDGE
 +
SG_ SENSOR_ULTRA_SONIC_left : 0|10@1+ (1,0) [0|500] "cm" DRIVER
 +
SG_ SENSOR_ULTRA_SONIC_right : 10|10@1+ (1,0) [0|500] "cm" DRIVER
 +
SG_ SENSOR_ULTRA_SONIC_middle : 20|10@1+ (1,0) [0|500] "cm" DRIVER
 +
SG_ SENSOR_ULTRA_SONIC_back : 30|10@1+ (1,0) [0|500] "cm" DRIVER
 +
 
 +
BO_ 202 SENSOR_BATTERY: 1 SENSOR_BRIDGE
 +
SG_ SENSOR_BATTERY_voltage : 0|8@1+ (1,0) [0|0] "V" DRIVER
 +
 
 +
BO_ 300 BRIDGE_DATA_TRANSFER: 8 SENSOR_BRIDGE
 +
SG_ GPS_DESTINATION_send_latitude : 0|32@1+ (0.000001,0) [0|0] "Degrees" GEO
 +
SG_ GPS_DESTINATION_send_longitude : 32|32@1+ (0.000001,0) [0|0] "Degrees" GEO
 +
 
 +
BO_ 301 GEO_READINGS: 8 GEO
 +
SG_ GEO_READINGS_COMPASS_HEADING : 0|12@1+ (1,0) [0|359] "Degrees" DRIVER, SENSOR_BRIDGE
 +
SG_ GEO_READINGS_COMPASS_BEARING : 12|12@1+ (1,0) [0|359] "Degrees" DRIVER, SENSOR_BRIDGE
 +
SG_ GEO_READINGS_DISTANCE_TO_DESTINATION : 24|24@1+ (1,0) [0|0] "Meters" DRIVER, SENSOR_BRIDGE
 +
 
 +
BO_ 302 GEO_DATA_TO_DRIVER_AND_BRIDGE: 8 GEO
 +
SG_ GEO_DATA_TO_DRIVER_AND_BRIDGE_latitude : 0|32@1+ (0.000001,0) [0|0] "Degrees" DRIVER, SENSOR_BRIDGE
 +
SG_ GEO_DATA_TO_DRIVER_AND_BRIDGE_longitude : 32|32@1+ (0.000001,0) [0|0] "Degrees" DRIVER, SENSOR_BRIDGE
 +
 
 +
BO_ 304 GEO_DEBUG_MESSAGE: 2 GEO
 +
SG_ GEO_DEBUG_MESSAGE_LOCK : 0|8@1+ (1,0) [0|0] "Boolean" DRIVER
 +
SG_ GEO_DEBUG_MESSAGE_LOCK_TIME : 8|8@1+ (0.1,0) [0|0] "Seconds" DRIVER
 +
 
 +
CM_ BU_ GEO "The gps contoller";
 +
CM_ BU_ SENSOR_BRIDGE "The bridge controller";
 +
CM_ BU_ DRIVER "The driver controller driving the car";
 +
CM_ BU_ MOTOR "The motor controller of the car";
 +
CM_ BO_ 100 "Sync message used to synchronize the controllers";
 +
CM_ SG_ 100 DRIVER_HEARTBEAT_cmd "Heartbeat command from the driver";
 +
 
 +
BA_DEF_ "BusType" STRING ;
 +
BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0;
 +
BA_DEF_ SG_ "FieldType" STRING ;
 +
 
 +
BA_DEF_DEF_ "BusType" "CAN";
 +
BA_DEF_DEF_ "FieldType" "";
 +
BA_DEF_DEF_ "GenMsgCycleTime" 0;
 +
 
 +
BA_ "GenMsgCycleTime" BO_ 100 1000;
 +
BA_ "GenMsgCycleTime" BO_ 200 50;
 +
BA_ "FieldType" SG_ 100 DRIVER_HEARTBEAT_cmd "DRIVER_HEARTBEAT_cmd";
 +
 
 +
VAL_ 100 DRIVER_HEARTBEAT_cmd 2 "DRIVER_HEARTBEAT_cmd_REBOOT" 1 "DRIVER_HEARTBEAT_cmd_SYNC" 0 "DRIVER_HEARTBEAT_cmd_NOOP" ;
 +
 
 +
</pre>
  
  
 
<HR>
 
<HR>
 
<BR/>
 
<BR/>
 +
 
== Sensor ECU ==
 
== Sensor ECU ==
 
<Picture and link to Gitlab>
 
<Picture and link to Gitlab>
Line 141: Line 478:
 
<BR/>
 
<BR/>
 
== Motor ECU ==
 
== Motor ECU ==
−
<Picture and link to Gitlab>
+
Motor - https://gitlab.com/Ouriquco/cmpe_243_team_zero/-/tree/NodeMotor/projects/MotorNode?ref_type=heads
 +
 
 +
Motor node receives
  
 
=== Hardware Design ===
 
=== Hardware Design ===
  
 +
The motor is controlled using various PWM signals to move forward, backward, or steer in different directions. The SJ2C board has specific pins designated for PWM signals. Two such pins, P2.0 and P2.1, are dedicated to controlling the motor's speed and servo. The SJ2 board, with its excellent I/O capabilities, allows for precise modulation of output signals to accurately control both the DC and servo motors.
 
=== Software Design ===
 
=== Software Design ===
 
<List the code modules that are being called periodically.>
 
<List the code modules that are being called periodically.>
Line 154: Line 494:
 
<HR>
 
<HR>
 
<BR/>
 
<BR/>
 +
 
== Geographical Controller ==
 
== Geographical Controller ==
  
Line 173: Line 514:
 
<BR/>
 
<BR/>
 
== Communication Bridge Controller & LCD ==
 
== Communication Bridge Controller & LCD ==
−
<Picture and link to Gitlab>
+
Bluetooth - https://gitlab.com/Ouriquco/cmpe_243_team_zero/-/tree/SensorBridgeNode/projects/Sensor_Controller/l5_application/Bluetooth?ref_type=heads
 +
 
 +
 
 +
[[File:TZBluetooth.jpg]]
 +
 
 +
The HC-05 Bluetooth module is a widely used and versatile wireless communication module that enables Bluetooth connectivity using its Serial Port Protocol.
 +
Key Features HC-05 Bluetooth Module:
 +
 
 +
'''Bluetooth Standard:'''
 +
 
 +
The HC-05 Bluetooth module operates on Bluetooth version 2.0 + EDR (Enhanced Data Rate), supporting reliable and efficient wireless communication.
 +
 
 +
'''Operating Modes:'''
 +
 
 +
The module can operate in both Master and Slave modes. In Slave mode, it can pair with other Bluetooth devices, while in Master mode, it can initiate connections.
 +
 
 +
'''Communication Range:'''
 +
 
 +
The HC-05 is classified as a Class 2 Bluetooth device, providing a communication range of approximately 10 meters (33 feet). This makes it suitable for short to medium-range applications.
 +
 
 +
'''Serial Communication:'''
 +
 
 +
It communicates with other devices using a serial communication interface, making it compatible with microcontrollers like Arduino. The module typically supports standard baud rates like 9600 bps.
 +
 
 +
'''AT Command Configuration:'''
 +
 
 +
The HC-05 Bluetooth module can be configured using AT commands, allowing users to customize various parameters such as the device name, pairing code, and operating mode.
 +
 
 +
'''Voltage Compatibility:'''
 +
 
 +
The module operates within a voltage range of 3.6V to 6V, making it compatible with a variety of power sources.
 +
 
 +
'''Security Features:'''
 +
 
 +
The HC-05 supports basic security features, including the ability to set a PIN code for pairing and configuring security modes.
 +
 
 +
'''LED Indicator:'''
 +
 
 +
Many HC-05 modules have an onboard LED indicator that provides visual feedback on the pairing status and communication activity.
  
 
=== Hardware Design ===
 
=== Hardware Design ===
 +
Connected Vcc, GND, Tx and Rx pins. It requires 3.6-6V for functioning. The Tx and Rx pins are used to transmit and recieve the data to and from the application.
  
 
=== Software Design ===
 
=== Software Design ===
−
<List the code modules that are being called periodically.>
+
o begin using serial transmission, you first need to pair the module to your device. During the pairing process, the password request encountered should be expecting one of the default passwords "1234" or "0000". You can change this password using one of the AT commands.
 +
We are calling the bluetooth the recieve and transmit functions periodically to send and recieve data in 10Hz periodic callbacks.
  
 
=== Technical Challenges ===
 
=== Technical Challenges ===
  
−
< List of problems and their detailed resolutions>
+
When we were powering to 3.3V, the LED on the bluetooth was blinking but it was not listing on the mobile phone when we had to connect it. After careful reading of the datasheet, we figured out that we have to power up with 3.6-6V.
  
 
<HR>
 
<HR>
 
<BR/>
 
<BR/>
 +
 
== Master Module ==
 
== Master Module ==
  
Line 202: Line 584:
 
<BR/>
 
<BR/>
 
== Mobile Application ==
 
== Mobile Application ==
−
<Picture and link to Gitlab>
 
  
−
=== Hardware Design ===
+
MIT App Inventor 2 is a free, open-source web application for creating basic Android mobile applications without needing to code in Java or Kotlin. Instead, it uses block-based coding and a graphical user interface (GUI) similar to the Scratch programming language. Users can drag and drop blocks to design the user interface (UI) and employ functional blocks to develop logic, functions, and control flow.
 +
 
 +
Originally developed by Google and released in 2010, MIT App Inventor for Android was created by a team led by Hal Abelson and Mark Friedman. In the latter half of 2011, Google released the source code, ceased its server operations, and funded the establishment of The MIT Center for Mobile Learning. This center, led by App Inventor creator Hal Abelson and MIT professors Eric Klopfer and Mitchel Resnick, launched the MIT version of App Inventor in March 2012.
 +
 
 +
The platform includes the MIT AI Companion app, a mobile application that allows users to download a server-cached version of their app in development. This feature facilitates easy and convenient testing of intermediate functions and bug fixes by enabling real-time observation of changes. Once development is complete, users can build and download a ".apk" file, an installable file for the Android OS that allows them to test their app as a standalone application.
 +
 
 +
The web app features two key sections for mobile app development: the Designer page and the Blocks page.
 +
 
 +
=== Flow ===
 +
[[File:TZFlow.png]]
 +
 
 +
=== User Interface ===
 +
 
 +
[[File:TZScreen1.jpg]]
 +
 
 +
Connects and disconnects the bluetooth and has start and stop buttons. The destination can be given by dropping the pin on the map. It can also be entered manually.
 +
 
 +
[[File:TZScreen2.jpg]]
 +
 
 +
Connects and disconnects the bluetooth. This screen gives the current latitude, longitude, distance to destination, speed of the car and all other details.
 +
 
 +
=== Bluetooth Block ===
 +
 
 +
The App uses the bluetooth client block to establish a connection with the HC-05 bluetooth module onboard the car. It is necessary to establish connection and connect to a bluetooth pair to send and receive messages.
 +
[[File:BluettothModule.png]]
  
−
=== Software Design ===
+
=== Testing and  Downloading ===
−
<List the code modules that are being called periodically.>
 
  
−
=== Technical Challenges ===
+
MIT App inventor projects can be accessed for testing on the MIT AI companion app or built into a downloadable APK file. It can also be exported as a file to be later imported. The file extension for an app inventor project is “.aia”.
  
−
< List of problems and their detailed resolutions>
 
  
  
Line 218: Line 621:
 
<HR>
 
<HR>
 
<BR/>
 
<BR/>
 +
 
== Conclusion ==
 
== Conclusion ==
 
<Organized summary of the project>
 
<Organized summary of the project>

Latest revision as of 06:25, 22 May 2024

Project Title

TEAM ZERO


Abstract

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

Introduction

The project was divided into N modules:

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

Team Members & Responsibilities

Team zero image.jpeg

Gitlab Project Link - [1]

Cody Ourique [2]

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

Anusha Arunnandi [3]

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

Chaitanya Battula [4]

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

Rohit Duvvuru [5]

  • Unit Testing


Schedule

Week# Start Date End Date Task Status
1 03/03/2024 03/09/2024
  • Read previous projects, gather information and discuss among the group members.
  • Distribute modules to each team member.
  • Decide on list of parts to be used.
  • Learn to use Busmaster.
  • Build db9 connector and connect to Busmaster.
 Completed
2 03/10/2024 03/16/2024
  • Order sensor parts, RC car, and other items from list.
  • Implement initial DBC file.
  • Complete implementation of controller interfaces using random values and communicating over CAN Bus with DBC.
 Incomplete
3 03/17/2024 03/23/2024
  • Receive all parts from list.
  • Start hardware prototype design.
  • Integrate real-time sensor values into Sensor controller interface.
  • Connect Motor, Driver, and Sensor modules over CAN Bus and verify their messages.
 Incomplete
4 03/24/2024 03/30/2024
  • Connect geographical modules over CAN Bus and verify messages.
  • Connect sensors to RC car.
  • Prototype hardware components on bread board.
 Incomplete
5 03/31/2024 04/06/2024
  • Connect sensors to RC car/perf board.
 Incomplete
6 04/07/2024 04/13/2024
  • Start working on basic implementation of obstacle avoidance algorithm.
 Incomplete
7 04/14/2024 04/20/2024
Incomplete
8 04/21/2024 04/27/2024
  • Interface Bluetooth connection with Sensor_Bridge controller.
 Incomplete
9 04/28/2024 05/04/2024
Incomplete
10 05/05/2024 05/11/2024
Incomplete
11 05/12/2024 05/18/2024
Incomplete
12 05/19/2024 05/25/2024
Incomplete


Parts List & Cost

Item# Part Desciption Vendor Qty Cost
1 RC car Traxxas [6] 1 $239.95
2 RPM sensor Traxxas [7] 1 $12.00
3 GPS Breakout Board Adafruit [8] 1 $54.95
4 PCB prototype circuit board A1 Cables N PCBs [9] 1 $8.57
5 Plexiglass Lesnlok [10] 1 $9.98
6 Wireless bluetooth RF transceiver HiLetgo [11] 1 $9.95
7 Compass Adafruit [12] 1 $5.95
8 Ultrasonic range finder Adafruit [13] 4 $114.00
8 Potentiometer Amazon [14] 1 $9.99
8 2 Pack 15000mAh power bank Amazon [15] 1 $19.99
8 GPS Antenna Mount Honbay [16] 2 $7.29
8 I2C Qwiic Cable Kit Amazon [17] 1 $9.99
8 Black Foam Padding Amazon [18] 1 $11.99
8 Traxxas 6537 Wire Retainers Amazon [19] 1 $6.95
8 USB Micro-B Breakout Board Adafruit [20] 1 $4.88
8 24 awg Wire Solid Core Amazon [21] 1 $14.99
8 ELEGOO 6PCS 170 tie-Points Mini Breadboard Amazon [22] 1 $6.98
8 GPS Antenna Amazon [23] 1 $10.99
8 Standoffs Amazon [24] 1 $22.96
8 Breadboard Wires Amazon [25] 1 $5.97
8 3/16 inch fiberglass rod TAP plastics 1 $5.11


Prototype Circuit Board

This prototype circuit board was carefully designed so that it could power all the microcontrollers, compass module, GPS module, bluetooth module, ultrasonic sensors and the LCD. In addition, the board has 4 slots for CAN tranceivers and an integrated CAN bus line. The board has a common ground line for all connected devices and has a total of 20 available sockets. Also, the board has 3.3V power and has 20 open sockets. Additionally, the board has 5V power with 4 available sockets delivered via micro USB.

Prototype board front.jpg Prototype board back.jpg



CAN Communication

<Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.> The microcontrollers communicate using the CAN bus. Each controller is sending or receiving CAN messages through periodic callback functions.

Geological Controller CAN Messages:

  • GEO_READINGS
  • GEO_DATA_TO_DRIVER_AND_BRIDGE
  • GEO_DEBUG_MESSAGE

Sensor_Bridge Controller CAN Messages:

  • SENSOR_ULTRA_SONIC
  • SENSOR_BATTERY
  • BRIDGE_DATA_TRANSFER

Motor Controller CAN Messages:

  • MOTOR_READINGS

Driver Controller CAN Messages:

  • DRIVER_HEARTBEAT
  • MOTOR_CMD


Hardware Design

CAN tranceiver no wire.jpg CAN tranceivers.jpeg

DBC File

Gitlab link to DBC file 

VERSION ""

NS_ :
	BA_
	BA_DEF_
	BA_DEF_DEF_
	BA_DEF_DEF_REL_
	BA_DEF_REL_
	BA_DEF_SGTYPE_
	BA_REL_
	BA_SGTYPE_
	BO_TX_BU_
	BU_BO_REL_
	BU_EV_REL_
	BU_SG_REL_
	CAT_
	CAT_DEF_
	CM_
	ENVVAR_DATA_
	EV_DATA_
	FILTER
	NS_DESC_
	SGTYPE_
	SGTYPE_VAL_
	SG_MUL_VAL_
	SIGTYPE_VALTYPE_
	SIG_GROUP_
	SIG_TYPE_REF_
	SIG_VALTYPE_
	VAL_
	VAL_TABLE_

BS_:

BU_: DBG DRIVER MOTOR SENSOR_BRIDGE GEO 

BO_ 100 DRIVER_HEARTBEAT: 1 DRIVER
 SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" SENSOR_BRIDGE,MOTOR

BO_ 101 MOTOR_CMD: 1 DRIVER
 SG_ MOTOR_CMD_steer : 0|4@1- (1,0) [-5|5] "steering direction" MOTOR
 SG_ MOTOR_CMD_drive : 4|4@1+ (0.1,-5) [-5|5] "kph" MOTOR

BO_ 102 MOTOR_READINGS: 4 MOTOR
 SG_ MOTOR_READINGS_steer_degrees : 0|4@1- (1,0) [-5|5] "steer direction" DRIVER
 SG_ MOTOR_READINGS_speed : 4|4@1+ (0.1,-5) [-5|5] "kph" DRIVER

BO_ 200 SENSOR_ULTRA_SONIC: 8 SENSOR_BRIDGE
 SG_ SENSOR_ULTRA_SONIC_left : 0|10@1+ (1,0) [0|500] "cm" DRIVER
 SG_ SENSOR_ULTRA_SONIC_right : 10|10@1+ (1,0) [0|500] "cm" DRIVER
 SG_ SENSOR_ULTRA_SONIC_middle : 20|10@1+ (1,0) [0|500] "cm" DRIVER
 SG_ SENSOR_ULTRA_SONIC_back : 30|10@1+ (1,0) [0|500] "cm" DRIVER

BO_ 202 SENSOR_BATTERY: 1 SENSOR_BRIDGE
 SG_ SENSOR_BATTERY_voltage : 0|8@1+ (1,0) [0|0] "V" DRIVER

BO_ 300 BRIDGE_DATA_TRANSFER: 8 SENSOR_BRIDGE
 SG_ GPS_DESTINATION_send_latitude : 0|32@1+ (0.000001,0) [0|0] "Degrees" GEO
 SG_ GPS_DESTINATION_send_longitude : 32|32@1+ (0.000001,0) [0|0] "Degrees" GEO

BO_ 301 GEO_READINGS: 8 GEO
 SG_ GEO_READINGS_COMPASS_HEADING : 0|12@1+ (1,0) [0|359] "Degrees" DRIVER, SENSOR_BRIDGE
 SG_ GEO_READINGS_COMPASS_BEARING : 12|12@1+ (1,0) [0|359] "Degrees" DRIVER, SENSOR_BRIDGE
 SG_ GEO_READINGS_DISTANCE_TO_DESTINATION : 24|24@1+ (1,0) [0|0] "Meters" DRIVER, SENSOR_BRIDGE

BO_ 302 GEO_DATA_TO_DRIVER_AND_BRIDGE: 8 GEO
	SG_ GEO_DATA_TO_DRIVER_AND_BRIDGE_latitude : 0|32@1+ (0.000001,0) [0|0] "Degrees" DRIVER, SENSOR_BRIDGE
	SG_ GEO_DATA_TO_DRIVER_AND_BRIDGE_longitude : 32|32@1+ (0.000001,0) [0|0] "Degrees" DRIVER, SENSOR_BRIDGE

BO_ 304 GEO_DEBUG_MESSAGE: 2 GEO
	SG_ GEO_DEBUG_MESSAGE_LOCK : 0|8@1+ (1,0) [0|0] "Boolean" DRIVER
	SG_ GEO_DEBUG_MESSAGE_LOCK_TIME : 8|8@1+ (0.1,0) [0|0] "Seconds" DRIVER

CM_ BU_ GEO "The gps contoller";
CM_ BU_ SENSOR_BRIDGE "The bridge controller";
CM_ BU_ DRIVER "The driver controller driving the car";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BO_ 100 "Sync message used to synchronize the controllers";
CM_ SG_ 100 DRIVER_HEARTBEAT_cmd "Heartbeat command from the driver";

BA_DEF_ "BusType" STRING ;
BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0;
BA_DEF_ SG_ "FieldType" STRING ;

BA_DEF_DEF_ "BusType" "CAN";
BA_DEF_DEF_ "FieldType" "";
BA_DEF_DEF_ "GenMsgCycleTime" 0;

BA_ "GenMsgCycleTime" BO_ 100 1000;
BA_ "GenMsgCycleTime" BO_ 200 50;
BA_ "FieldType" SG_ 100 DRIVER_HEARTBEAT_cmd "DRIVER_HEARTBEAT_cmd";

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



Sensor ECU

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>


Motor ECU

Motor - https://gitlab.com/Ouriquco/cmpe_243_team_zero/-/tree/NodeMotor/projects/MotorNode?ref_type=heads

Motor node receives

Hardware Design

The motor is controlled using various PWM signals to move forward, backward, or steer in different directions. The SJ2C board has specific pins designated for PWM signals. Two such pins, P2.0 and P2.1, are dedicated to controlling the motor's speed and servo. The SJ2 board, with its excellent I/O capabilities, allows for precise modulation of output signals to accurately control both the DC and servo motors.

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>


Geographical Controller

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>



Communication Bridge Controller & LCD

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


TZBluetooth.jpg

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

Bluetooth Standard:

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

Operating Modes:

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

Communication Range:

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

Serial Communication:

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

AT Command Configuration:

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

Voltage Compatibility:

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

Security Features:

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

LED Indicator:

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

Hardware Design

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

Software Design

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

Technical Challenges

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


Master Module

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>


Mobile Application

MIT App Inventor 2 is a free, open-source web application for creating basic Android mobile applications without needing to code in Java or Kotlin. Instead, it uses block-based coding and a graphical user interface (GUI) similar to the Scratch programming language. Users can drag and drop blocks to design the user interface (UI) and employ functional blocks to develop logic, functions, and control flow.

Originally developed by Google and released in 2010, MIT App Inventor for Android was created by a team led by Hal Abelson and Mark Friedman. In the latter half of 2011, Google released the source code, ceased its server operations, and funded the establishment of The MIT Center for Mobile Learning. This center, led by App Inventor creator Hal Abelson and MIT professors Eric Klopfer and Mitchel Resnick, launched the MIT version of App Inventor in March 2012.

The platform includes the MIT AI Companion app, a mobile application that allows users to download a server-cached version of their app in development. This feature facilitates easy and convenient testing of intermediate functions and bug fixes by enabling real-time observation of changes. Once development is complete, users can build and download a ".apk" file, an installable file for the Android OS that allows them to test their app as a standalone application.

The web app features two key sections for mobile app development: the Designer page and the Blocks page.

Flow

TZFlow.png

User Interface

TZScreen1.jpg

Connects and disconnects the bluetooth and has start and stop buttons. The destination can be given by dropping the pin on the map. It can also be entered manually.

TZScreen2.jpg

Connects and disconnects the bluetooth. This screen gives the current latitude, longitude, distance to destination, speed of the car and all other details.

Bluetooth Block

The App uses the bluetooth client block to establish a connection with the HC-05 bluetooth module onboard the car. It is necessary to establish connection and connect to a bluetooth pair to send and receive messages. BluettothModule.png

Testing and Downloading

MIT App inventor projects can be accessed for testing on the MIT AI companion app or built into a downloadable APK file. It can also be exported as a file to be later imported. The file extension for an app inventor project is “.aia”.




Conclusion

<Organized summary of the project>

<What did you learn?>

Project Video

Project Source Code

Advise for Future Students

<Bullet points and discussion>

Acknowledgement

=== References ===

Retrieved from "http://socialledge.com/sjsu/index.php?title=S24:_Team_Zero&oldid=71554"