Difference between revisions of "S20: Nimble"

• Create and establish GitLab repository
• Establish slack channel and invite Preet
• Look through previous years projects and study it
• Distribute major roles among team members

• Create a Bill of Materials.
• Select and order an RC car.
• Make Repo on Gitlab for all modules - Follow Naming Convention.
• Making the Wiki schedule.

• Select Part Number for Sensors (Tanmay, Ellis)
• Designing and deciding PCB tool(Lawrence)
• Finalizing GPS module by doing some research (Yuming)
• Finalize and order LCD ()
• Finalize Motor and Order it (Lawrence , Yuming )
• Environmental setup of Android ( )
• 3/17/2020 -> Project Lab - RC Car Infrastructure

• Understand DBC and implement the DBC file compatible with all the controllers.
• Test motor driving in different situations, begin to listen to CAN for controls.
• Establish communication across all the CAN controllers over CAN bus based on the DBC file.
• Verify the power-up interactions and configurations between Master and the other controllers.
• 03/26/2020 DBC File
• 03/26/2020 DEMO: CAN communication between controllers.

• // Temporary schedule below
• Check and Resolve power issue for RC Car.
• Finalize high-level system block diagram and control scheme.
• Circuit Simulation in Diptrace Tool.
• PCB Layout Design in Diptrace Tool.
• Finalize Components placement on PCB.
• Establish a connection over Bluetooth and Android app.
• Establish a communication between Bluetooth devices.
• Interfacing of ultrasonic sensors to the SJOne board and check for basic functionality.
• Interface and get the reading of Lidar sensor with SJOne over UART.
• Chalk out the Message IDs based on the priority of the messages and the data to be sent across nodes.
• Interface of Servo & DC motor to the SJOne board and check for basic functionality.
• Interface Compass module with SJOne board using I2C serial bus.
• Interface bluetooth HC-05 module with SJOne board using serial Communication.
• Configure bluetooth HC-05 module name as Tech Savy using HC-05 Communication Mode.
• Explore UI designing of LCD.
• Finish motor controller API. Test motor driving in different situations, begin to listen to CAN for controls.
• Add a TextView for displaying the Bluetooth connection status in Android App.

• Parse data of Lidar Sensor depending on distance and angle and send it to master using dbc.
• Implement basic obstacle avoidance algorithm based on sensor data and test the same.
• Continue testing motor driver via commands from CAN bus.
• Build in speed steps to reverse motor for reverse to work correctly.
• Mount all the sensors and test for any dead band and modify their positions for maximum coverage.
• Integrate the fusion of LIDAR and Ultrasound sensor to get overall feedback from all the directions.
• Develop algorithm to avoid obstacles and plan the car's further navigation path.
• Complete final prototype of the obstacle avoidance feature.
• Calibrate Compass Module. Develop code for Compass module communication over CAN.
• 16 April 2019 DEMO: Motors driven by wheel feedback and sensors, Basic obstacle avoidance.
• Final Wiki Schedule.

• Configure GPS device baud rate and interface it with SJOne board using UART.
• Send and receive current location, destination and checkpoint coordinates to and from App and Geo module via BRIDGE.
• Calibrate sensors readings and work on filtering algorithm with Master & Sensor
• Begin work on LCD to show vehicle live status(speed, fuel-status, obstacles, distance to destination etc.) in a GUI.
• Finish implementing speed control on motor (to make sure requested speed is met based on RPM read).
• Work on Car reversing using Motor Controllers.
• Integrate all modules with the Master to test the data flow.
• Validation & Verification of obstacle avoidance, steering logic with rear sensor inputs and reversing.
• Start incorporating GEO Controller information to Master module Steering logic.
• Decide, implement and test data exchange between Geo Controller and BRIDGE.
• Calculate and send simple bearing angle and destination status on CAN to figure out initial challenges.
• Add a Google Map for setting the car's destination.
• Send car location to app and check points received to Geo module.
• Verify the stringent requirement of Start-up Sync, Periodic heart-beat messages.
• Update Wiki Schedule with Test Reports.

• Testing & Validation of the LCD UI and display run time vehicle status and looking forward for feedback from team if any.
• Improve & Validate Navigation logic with multiple checkpoints, bearing angle and destination information.
• Identify and mitigate GPS locking, Location Accuracy and Number of Satellite-In-View coming.
• Validate Accuracy of Compass Calibration with iPhone Compass.
• Determine and add DBC Changes and finalized.
• Implement the steering logic with bearing angle and status provided by GEO-Module.
• Consistently Communicate current car location to App, get check points from App and relay them to Geo module.
• Send additional vehicle status information from can bus to the App for display.
• Send the request to Google for getting the checkpoints(use the Google Maps Directions API).
• Field test and check for obvious issues in obstacle avoidance, navigation, maintaining speed (up/down hill).
• Provide feed backs to each team on identified short comings.
• Update Wiki with new details and information.
• DEMO: GPS driving

• FIELD TESTING - CRITICAL WEEK
• Implement turning indicators, break lights and head light.
• Check for Corner cases for steering logic under various conditions and locations.
• Analyse field test results for GPS and CMPS and work on it if required.
• Test the accuracy of check-points from the Blue-tooth controller, location data from the Geo-controller sensor and Navigation Algorithm.
• Check overall robustness of the complete system.
• Establish complete connection on PCB
• Update wiki with details.

• All hands on testing and final bug fixes.
• Check for tuning or calibration of modules if required.
• Complete end-to-end testing for various scenarios and conditions.
• Create the semester long project activity video and upload to YouTube.
• Update and finalize wiki.

• DEMO: Final Project
• SUBMISSION: Final Project Wiki

}

Printed Circuit Board

<Picture and information, including links to your PCB>

CAN Communication

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

Hardware Design

<Show your CAN bus hardware design>

DBC File

<Gitlab link to your DBC file> <You can optionally use an inline image>

Sensor ECU

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>

Motor ECU

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>

Geographical Controller

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>

Communication Bridge Controller & LCD

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>

Master Module

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>

Mobile Application

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>

Conclusion

<Organized summary of the project>

<What did you learn?>

Project Video

Project Source Code

Advise for Future Students

<Bullet points and discussion>

Acknowledgement

References