Difference between revisions of "S22: Road Runner"
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=== DBC File === | === DBC File === | ||
− | + | [https://gitlab.com/road-runner-ce243/road-runner-firmware/-/blob/kwong_driver_heading_and_obstacle_algorithm/dbc/project.dbc Gitlab link to the RoadRunner DBC file] | |
− | < | + | <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 GEOLOGICAL | ||
+ | |||
+ | BO_ 100 MOTOR_CMD: 4 DRIVER | ||
+ | SG_ MOTOR_steer_degrees : 0|9@1- (1,-45) [-45|45] "degrees" MOTOR | ||
+ | SG_ MOTOR_speed_kph : 9|9@1- (0.1,-40.5) [-40.5|40.5] "kph" MOTOR | ||
+ | |||
+ | BO_ 101 MOTOR_STATUS: 4 MOTOR | ||
+ | SG_ MOTOR_STATUS_steer_degrees : 0|9@1- (1,-45) [-45|45] "degrees" DRIVER | ||
+ | SG_ MOTOR_STATUS_speed_kph : 9|9@1- (0.1,-40.5) [-40.5|40.5] "kph" DRIVER | ||
+ | |||
+ | BO_ 200 SENSOR_SONARS: 8 SENSOR_BRIDGE | ||
+ | SG_ SENSOR_SONARS_left : 0|10@1+ (1,0) [0|500] "cm" DRIVER | ||
+ | SG_ SENSOR_SONARS_right : 10|10@1+ (1,0) [0|500] "cm" DRIVER | ||
+ | SG_ SENSOR_SONARS_middle : 20|10@1+ (1,0) [0|500] "cm" DRIVER | ||
+ | SG_ SENSOR_SONARS_back : 30|10@1+ (1,0) [0|500] "cm" DRIVER | ||
+ | |||
+ | BO_ 201 GPS_DESTINATION: 8 SENSOR_BRIDGE | ||
+ | SG_ GPS_DESTINATION_latitude : 0|28@1- (0.000001,-90.000000) [-90|90] "Degrees" GEOLOGICAL | ||
+ | SG_ GPS_DESTINATION_longitude : 28|28@1- (0.000001,-180.000000) [-180|180] "Degrees" GEOLOGICAL | ||
+ | |||
+ | BO_ 350 GEO_STATUS: 8 GEOLOGICAL | ||
+ | SG_ GEO_STATUS_COMPASS_HEADING : 0|12@1+ (1,0) [0|359] "Degrees" DRIVER,SENSOR_BRIDGE | ||
+ | SG_ GEO_STATUS_COMPASS_BEARING : 12|12@1+ (1,0) [0|359] "Degrees" DRIVER,SENSOR_BRIDGE | ||
+ | SG_ GEO_STATUS_DISTANCE_TO_DESTINATION : 24|24@1+ (1,0) [0|0] "Meters" DRIVER,SENSOR_BRIDGE | ||
+ | |||
+ | BO_ 360 GEO_CURRENT_POSITION: 8 GEOLOGICAL | ||
+ | SG_ GEO_CURRENT_POSITION_latitude : 0|28@1- (0.000001,-90.000000) [-90|90] "Degrees" DRIVER,SENSOR_BRIDGE | ||
+ | SG_ GEO_CURRENT_POSITION_longitude : 28|28@1- (0.000001,-180.000000) [-180|180] "Degrees" DRIVER,SENSOR_BRIDGE | ||
+ | |||
+ | CM_ BU_ DRIVER "The driver controller driving the car"; | ||
+ | CM_ BU_ MOTOR "The motor controller of the car"; | ||
+ | CM_ BU_ SENSOR_BRIDGE "The sensor and bluetooth bridge controller of the car"; | ||
+ | CM_ BU_ GEOLOGICAL "The GPS and compass controller of the car"; | ||
+ | CM_ BO_ 100 "Sync message used to synchronize the controllers"; | ||
+ | |||
+ | 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> |
Revision as of 22:52, 12 April 2022
Contents
Road Runner
Abstract
<2-3 sentence abstract>
Introduction
The project was divided into 5 modules:
- Bridge and Sensor Controller
- Motor Controller
- Driver / LCD Controller
- Android app interface
Team Members & Responsibilities
<Team Picture>
Road Runner Firmware: GitLab Repo
Team Members:
- Dhruv Choksi
- Jonathan Doctolero
- Tudor Donca
- Hisaam Hashim
- Saicharan Kadari
- Kyle Kwong
Project Subteams:
- Bridge and Sensor Controller:
- Tudor Donca
- Saicharan Kadari
- Motor Controller:
- Dhruv Choksi
- Hisaam Hashim
- Geological Controller:
- Kyle Kwong
- Jonathan Doctolero
- Saicharan Kadari
- Bridge and LCD Controller:
- Hisaam Hashim
- Kyle Kwong
- Android Application:
- Jonathan Doctolero
- Tudor Donca
- Integration Testing:
- Tudor Donca
- Dhruv Choksi
- Hisaam Hashim
- Saicharan Kadari
- Kyle Kwong
- Jonathan Doctolero
Schedule
Week# | Start Date | End Date | Task | Status |
---|---|---|---|---|
1 | 03/06/2022 | 03/12/2022 |
|
Completed |
2 | 03/13/2022 | 03/19/2022 |
|
Completed |
3 | 03/20/2022 | 03/26/2022 |
|
In Progress |
4 | 03/27/2022 | 04/02/2022 |
|
|
5 | 04/03/2022 | 04/09/2022 |
|
|
6 | 04/10/2022 | 04/16/2022 |
|
|
7 | 04/17/2022 | 04/23/2022 |
|
|
8 | 04/24/2022 | 04/30/2022 |
|
|
9 | 04/01/2022 | 04/07/2022 |
|
Parts List & Cost
Item# | Part Desciption | Vendor | Qty | Cost |
---|---|---|---|---|
1 | RC Car | Redcat | 1 | $153.00 |
2 | CAN Transceivers | Various | 6 | $55 |
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 the RoadRunner 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 GEOLOGICAL BO_ 100 MOTOR_CMD: 4 DRIVER SG_ MOTOR_steer_degrees : 0|9@1- (1,-45) [-45|45] "degrees" MOTOR SG_ MOTOR_speed_kph : 9|9@1- (0.1,-40.5) [-40.5|40.5] "kph" MOTOR BO_ 101 MOTOR_STATUS: 4 MOTOR SG_ MOTOR_STATUS_steer_degrees : 0|9@1- (1,-45) [-45|45] "degrees" DRIVER SG_ MOTOR_STATUS_speed_kph : 9|9@1- (0.1,-40.5) [-40.5|40.5] "kph" DRIVER BO_ 200 SENSOR_SONARS: 8 SENSOR_BRIDGE SG_ SENSOR_SONARS_left : 0|10@1+ (1,0) [0|500] "cm" DRIVER SG_ SENSOR_SONARS_right : 10|10@1+ (1,0) [0|500] "cm" DRIVER SG_ SENSOR_SONARS_middle : 20|10@1+ (1,0) [0|500] "cm" DRIVER SG_ SENSOR_SONARS_back : 30|10@1+ (1,0) [0|500] "cm" DRIVER BO_ 201 GPS_DESTINATION: 8 SENSOR_BRIDGE SG_ GPS_DESTINATION_latitude : 0|28@1- (0.000001,-90.000000) [-90|90] "Degrees" GEOLOGICAL SG_ GPS_DESTINATION_longitude : 28|28@1- (0.000001,-180.000000) [-180|180] "Degrees" GEOLOGICAL BO_ 350 GEO_STATUS: 8 GEOLOGICAL SG_ GEO_STATUS_COMPASS_HEADING : 0|12@1+ (1,0) [0|359] "Degrees" DRIVER,SENSOR_BRIDGE SG_ GEO_STATUS_COMPASS_BEARING : 12|12@1+ (1,0) [0|359] "Degrees" DRIVER,SENSOR_BRIDGE SG_ GEO_STATUS_DISTANCE_TO_DESTINATION : 24|24@1+ (1,0) [0|0] "Meters" DRIVER,SENSOR_BRIDGE BO_ 360 GEO_CURRENT_POSITION: 8 GEOLOGICAL SG_ GEO_CURRENT_POSITION_latitude : 0|28@1- (0.000001,-90.000000) [-90|90] "Degrees" DRIVER,SENSOR_BRIDGE SG_ GEO_CURRENT_POSITION_longitude : 28|28@1- (0.000001,-180.000000) [-180|180] "Degrees" DRIVER,SENSOR_BRIDGE CM_ BU_ DRIVER "The driver controller driving the car"; CM_ BU_ MOTOR "The motor controller of the car"; CM_ BU_ SENSOR_BRIDGE "The sensor and bluetooth bridge controller of the car"; CM_ BU_ GEOLOGICAL "The GPS and compass controller of the car"; CM_ BO_ 100 "Sync message used to synchronize the controllers"; 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
<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>