Difference between revisions of "S19: Hot Wheels"
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Revision as of 04:12, 12 May 2019
Contents
Project Title
Self-navigating RC car based on CAN communication.
Abstract
Embedded Systems are used to take real world input and covert it into the data that can be processed to monitor,control or obtain desired results. In this project , we aim to design and develop an autonomous self-driving RC car that navigates from the current location to the destination location that is selected through an Android application, avoiding all the obstacles in the path. The car comprises of 5 controllers communicating with each other over the CAN Bus, each having different functionality.
Introduction
The project was divided into 5 modules:
- Sensor Controller: This module detects obstacles in the driving path with the help of ultrasonic sensors.
- Motor Controller: This controller drives the DC motor and Servo in the car.
- Geographical Controller: This module assists the car in navigating to a destination with the help of location details provided by GPS and the
orientation(bearing and heading angle) provided by the compass.
- Bluetooth Controller: The controller uses Bluetooth to communicate with an Android application on the Android phone. Destination coordinates are provided by this module. The Bluetooth module also displays important data like Ultrasonic sensor values, GPS coordinates and speed.
- Master Controller: This module will collect data from all modules and direct the motor module towards the destination.
Team Members & Responsibilities
<Team Picture>
Gitlab Project Link - [1]
- Master Control
- Kailash Chakravarty
- Sensor
- Rishabh Sheth
- Motor
- Kriti Hedau
- Tahir Rawn
- Geographical
- Harmeen Joshi
- Nandini Shankar
- Communication Bridge Controller & Android Application
- Swanand Sapre
- Aquib Mulani
- Code Review & Commit Approvers
- Rishabh Sheth
- Nandini Shankar
- Kailash Chakravarty
Schedule
| Week# | Date | Task | Status | Completion Date |
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| 1 | 02/12/19 |
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| 2 | 02/17/19 |
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| 3 | 02/26/19 |
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| 4 | 03/05/19 |
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| 5 | 03/12/19 |
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| 6 | 03/19/19 |
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| 7 | 03/26/19 |
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| 8 | 04/02/19 |
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| 9 | 04/09/19 |
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| 10 | 04/16/19 |
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| 11 | 04/23/19 |
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| 12 | 04/30/19 |
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| 13 | 05/07/19 |
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| 14 | 05/14/19 |
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| 15 | 05/22/19 |
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Parts List & Cost
| Item# | Part Desciption | Vendor | Qty | Cost |
|---|---|---|---|---|
| 1 | RC Car | Traxxas | 1 | $250.00 |
| 2 | CAN Transceivers MCP2551-I/P | Microchip [2] | 8 | Free Samples |
Printed Circuit Board
<Picture and information, including links to your PCB>
CAN Communication
<Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.>
Hardware Design
<Show your CAN bus hardware design>
DBC File
Gitlab link to your DBC file [3]
VERSION "0.1.0"
BU_: MASTER SENSOR MOTORIO GEO APP
BO_ 220 MOTORIO_CMD: 4 MASTER
SG_ MOTORIO_CMD_Direction : 0|8@1+ (1,0) [0|2] "" MOTORIO
BO_ 210 ULTRA_CMD: 4 SENSOR
SG_ SENSOR_SONARS_FrontDistance : 0|8@1+ (1,0) [2|100] "" MASTER
BO_ 250 DISTANCE: 4 GEO
SG_ DISTANCE_FinalDistance : 0|16@1+ (0.1,0) [0|0] "" MASTER
BO_ 102 BLUETOOTH: 4 APP
SG_ DISTANCE_FinalDistance : 0|16@1+ (0.1,0) [0|0] "" MASTER
CM_ BU_ MASTER "The Master controller of the car";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BU_ SENSOR "The sensor controller of the car";
CM_ BU_ GEO "The Geo controller of the car";
CM_ BU_ APP "The Bluetooth/App controller of the car";
Sensor ECU
<Picture and link to Gitlab>
MOTOR CONTROLLER
Group Members
Design & Implementation
Hardware Design
| SJOne Pin Diagram | ||
|---|---|---|
| Sr.No | Pin Number | Pin Function |
| 1 | P0.0 | CAN RX |
| 2 | P0.1 | CAN TX |
| 3 | P2.0 | Servo motor |
| 4 | P2.1 | DC motor |
| 5 | P2.5 | Speed Encoder |
- Hardware Specifications
DC Motor
Servo Motor
RPM Sensor
Hardware Interface
Software Design
Technical Challenges
Future Counsel
Geographical Controller
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
<Bullet or Headings of a module>
Unreliable GPS lock
<Problem Summary> <Problem Resolution>
Communication Bridge Controller & LCD
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
<Bullet or Headings of a module>
Insane Bug
<Problem Summary> <Problem Resolution>
Master Module
<Picture and link to Gitlab>
Hardware Design
Software Design
<List the code modules that are being called periodically.>
Technical Challenges
<Bullet or Headings of a module>
Improper Unit Testing
<Problem Summary> <Problem Resolution>
Conclusion
<Organized summary of the project>
<What did you learn?>
Project Video
Project Source Code
Advise for Future Students
<Bullet points and discussion>
