Difference between revisions of "S22: Firebolt"

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(Sensor and Bluetooth ECU)
(Sensor and Bluetooth ECU)
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The sensor node has to receive values from all the sensors and send the distance values on the CAN bus for the driver to run the obstacle avoidance logic.  
 
The sensor node has to receive values from all the sensors and send the distance values on the CAN bus for the driver to run the obstacle avoidance logic.  
  
1. Receive sensor values
+
1. Receive sensor values:
 +
 
 
Four sensors are used here. Three in the front and one at the rear side. We need four ADC channels to address the receiving from all sensors. In order to use four pins on the SJ2 board we need to set the pins to analog mode. In the adc.h file and adc.c file there are only three channels initialized, so one needs to add ADC channel 3 in these files. On how to use these sensors, the datasheet of helped a lot. It addresses every aspect of how to use this particular sensor and the solution to most of the problem that can arise. All the sensor raw values are digitally converted in the range of 0 to 1024( 10 bit ADC). These value is in inches as mentioned in the datasheet. So, one needs to convert it into centimeter by applying some formula. The formula can be different based on the configuration used to setup the ADC channel even if same sensor is used.
 
Four sensors are used here. Three in the front and one at the rear side. We need four ADC channels to address the receiving from all sensors. In order to use four pins on the SJ2 board we need to set the pins to analog mode. In the adc.h file and adc.c file there are only three channels initialized, so one needs to add ADC channel 3 in these files. On how to use these sensors, the datasheet of helped a lot. It addresses every aspect of how to use this particular sensor and the solution to most of the problem that can arise. All the sensor raw values are digitally converted in the range of 0 to 1024( 10 bit ADC). These value is in inches as mentioned in the datasheet. So, one needs to convert it into centimeter by applying some formula. The formula can be different based on the configuration used to setup the ADC channel even if same sensor is used.
  
 
=== Technical Challenges ===
 
=== Technical Challenges ===
 +
The main challenge while using ultrasonic sensor with this particular project is of crosstalk. While detecting objects in the front all the front sensors waves are interfering with each other giving false values in the left or right sensor while the object is in the front only. The datasheet addresses this issues and what to do when multiple sensors are used in a system. It says that trigger each sensor are different time period in order to avoid crosstalk. So we triggered the front and rear at one particular time and left and right at one particular time. One sequence is triggered at 
  
 
==== Neighboring Sensor Interference: ====
 
==== Neighboring Sensor Interference: ====

Revision as of 06:13, 27 May 2022

The RC Car

FireBolt RC Car

Abstract

Firebolt is battery powered autonomous RC car. The car uses four microcontrollers for communication between the nodes- driver node, motor node, bridge & sensor node, and geological node over the CAN bus. It is interfaced to the mobile application which sends GPS coordinates for the destination location to the driver node and reaches the destination by avoiding any obstacles that comes in the path. For obstacle detection and avoidance it uses Ultrasonic Sensor and makes the decision of steering and maintaining speed after performing calculations based on the bridge and sensor node's data.

Objectives & Introduction

Objectives

The objective of this project is to get hands on experience of application of embedded systems in autonomous vehicles, have understanding of CAN bus communication, CAN database files, TDD and other related tools such as PCAN dongle and Busmaster.

Software side

  • The car communicates with an Android application
  • Receive coordinates from gps to drive itself to the destination while avoiding obstacles
  • Display useful information on the LCD
  • Take care of elevation and make correct speed decisions
  • DBC file for all the nodes

Hardware side

  • Design PCB for four controllers and other necessary components
  • Choose good options for mounting the ultrasonic sensors on the car
  • Make a good GUI Android application for interfacing with the microcontroller

Introduction

Four Nodes of the RC Car are:

  1. Driver Node
  2. GEO Node
  3. Sensors and Bridge Node
  4. Motor Node
  5. Mobile Application

Team Members & Responsibilities

  • Team FireBolt
  • Team FireBolt

Priyanka Rai

  • Geo Controller
  • GPS and Compass Interfacing
  • Motor Controller
  • Integration Testing
  • Wiki Page Update

Ritu Patil

  • Motor Controller
  • Integration Testing
  • Wiki Page Update

Ritika Beniwal

  • Driver Node
  • LCD interfacing
  • Motor Controller
  • Integration Testing
  • Wiki Page Update

Utsav Savaliya

  • Sensor Controller
  • Integration Testing
  • Wiki Page Update

Dhanush Babu

  • Bluetooth module interfacing
  • Motor Controller
  • Android App
  • Integration Testing

Noel Smith

  • PCB Designing

Schedule

Week# Start Date Target Date Task Completion Date Status
Week 1
  • 03/06
  • 03/08
  • 03/12
  • 03/10
  • 03/10
  • 03/12
  • Study and discuss previous project reports
  • Brainstorm on the requirements for the project
  • Identify and order/purchase the required components
  • 03/10
  • 03/10
  • 03/12
  • Completed
  • Completed
  • Completed
Week 2
  • 03/13
  • 03/13
  • 03/14
  • 03/14
  • 03/18
  • 03/18
  • Distribute initial roles among the team members
  • Study the datasheets and manual of acquired components
  • Create and setup Gitlab Repository
  • 03/14
  • 03/18
  • 03/18
  • Completed
  • Completed
  • Completed
Week 3
  • 03/20
  • 03/22
  • 03/20
  • 03/25
  • 03/26
  • 03/24
  • Write basic driver for ultrasonic sensor
  • Analyze and decide the hardware placement of the RC Car
  • Create SENSOR and DRIVER nodes to transmit and receive data
  • 03/26
  • 03/23
  • 03/25
  • Completed
  • Completed
  • Completed
Week 4
  • 03/27
  • 03/27
  • 03/27
  • 04/04
  • 04/01
  • 03/28
  • Create the GEO node to get coordinates and cardinal directions from GPS and Compass
  • Create the MOTOR node to drive the RC Car
  • Design DBC file and create CAN signals for every node
  • 04/02
  • 04/04
  • 04/01
  • Completed
  • Completed
  • Completed
Week 5
  • 04/02
  • 04/02
  • 04/02
  • 04/02
  • 04/08
  • 04/08
  • 04/08
  • 04/08
  • Finalize the DBC file
  • Design obstacle avoidance and steering logic on the DRIVER node
  • Design motor driving logic on the MOTOR node with the encoder
  • Start and design the Bluetooth app xml for destination.
  • 04/09
  • 04/09
  • 04/09
  • 04/09
  • Completed
  • Completed
  • Completed
  • Completed
Week 6
  • 04/09
  • 04/09
  • 04/09
  • 04/09
  • 04/09
  • 04/15
  • 04/15
  • 04/15
  • 04/15
  • 04/15
  • Integrate GPS module with compass to get the current location.
  • Write UART interface for Bluetooth integration on sensor node.
  • Get raw sensor data from the ultrasonic sensor.
  • Integrate GEO node to DRIVER node for navigation. Check whether the DRIVER node is receiving the coordinates.
  • Backend development for android app. Should be able to scan BT devices and connect.
  • 04/15
  • 04/15
  • 04/15
  • 04/15
  • 04/15
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
Week 7
  • 04/16
  • 04/16
  • 04/16
  • 04/16
  • 04/16
  • 04/16
  • 04/23
  • 04/23
  • 04/23
  • 04/23
  • 04/23
  • 04/23
  • Communicate to the GEO node over Bluetooth via Android app
  • Complete Driver obstacle logic
  • Design driving decision logic based on the navigation data
  • Lay out basic PCB Board design for mounting the ECUs
  • Filtering ultrasonic sensor data and sending processed data to Driver
  • RPM Sensor logic and testing.
  • 04/26
  • 04/26
  • 04/26
  • 04/26
  • 04/26
  • 04/26
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
Week 8
  • 04/25
  • 04/25
  • 04/25
  • 04/25
  • 04/25
  • 04/25
  • 04/30
  • 04/30
  • 04/30
  • 04/30
  • 04/30
  • 04/30
  • Design a dashboard on the LCD to display the values
  • Driver logic for sensor data and geo data on busmaster.
  • Add functionality for pinning location on maps and extracting latitude and longitude
  • Improve obstacle avoidance logic
  • Break and ramp logic for the motor.
  • Collective Test 1: Drive the car to a hardcoded GPS destination
  • 04/29
  • 04/27
  • 04/30
  • 04/30
  • 04/30
  • 05/06
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
Week 9
  • 05/01
  • 05/01
  • 05/01
  • 05/01
  • 05/01
  • 05/07
  • 05/07
  • 05/07
  • 05/07
  • 05/07
  • Design individual architecture diagrams and algorithms for documentation
  • Make any necessary improvements based on previous test results
  • Complete the final version of the Android app
  • Get the PCB printed
  • Collective Test 2: Test the car driving with navigation data from the Android app
  • 05/10
  • 05/07
  • 05/01
  • 05/07
  • 05/11
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
Week 10
  • 05/09
  • 05/09
  • 05/09
  • 05/09
  • 05/14
  • 05/14
  • 05/14
  • 05/14
  • Replace the circuits with their corresponding PCBs and assemble
  • Complete the RC Car structure and assembly with the 3D printed parts - Prototype 1
  • Refactor the code modules with necessary improvements
  • Collective Test 3: Test car on various terrains and slopes
  • 05/20
  • 05/20
  • 05/20
  • 05/20
  • Completed
  • Completed
  • Completed
  • Completed
Week 11
  • 05/16
  • 05/16
  • 05/16
  • 05/16
  • 05/21
  • 05/21
  • 05/21
  • 05/21
  • Revise and improve the wiki report to cover all the aspects of design and implementation
  • Fix all the errors and make improvements
  • Final testing of all the modules and car
  • Collective Test 4: Have the final version of the project tested with all the functionalities
  • 05/22
  • 05/22
  • 05/22
  • 05/22
  • Completed
  • Completed
  • Completed
  • Completed
Week 12
  • 05/25
  • 05/25
  • 05/27
  • 05/27
  • Demo
  • Final Wiki Page Update with addition of all the problems faced during the development
  • 05/25
  • 05/26
  • Completed
  • Completed


Parts List & Cost

Item# Part Desciption Vendor Qty Price($)
1 RC Car Traxxas [1] 1 280
2 CAN Transceivers MCP2551-I/P Comimark [2] 5 8.99
3 Ultrasonic Sensors Max Botix[3] 4 24.95
4 GPS Breakout Board Adafruit[4] 1 29.95
5 GPS Antenna Adafruit[5] 1 19.95
6 RPSMA female to mhf4 Superbat[6] 1 7.99
7 HC05 bluetooth RF Transceiver HiLetgo[7] 1 15.99
8 Triple-axis Accelerometer Adafruit[8] 1 14.95
9 Traxxas RPM Sensor Traxxas[9] 1 13.76
10 Traxxas Battery and Charger Traxxas[10] 1 62.95
11 Voltage Regulator Valefod[11] 6 10.99
12 Headlights Hobbypark[12] 1 7.96


Printed Circuit Board

Initially we started our testing with mounting all our hardware on the breadboard (yes, it was messy and unstable!).

  • Initial_Hardware


PCB Schematic

  • Schematic
  • Final_Board


PCB Board

  • Top_Side
  • Bottom_Side

Challenges

  • Since there are four controllers and a significant number of components (gps, sensors, can transceivers, volt regulator etc.) it was difficult for us to keep our hardware stable because every time we go for field testing some will get disconnected and we were kind of stuck up in the hardware setup.
  • We decided to get the PCB printed but there were some issues and resolving them and getting a new PCB would take time.

Solution

  • Finally we decided to use the prototype board for mounting all the components and stabilizing our hardware.
  • Protoype_Board

CAN Communication

We used controller area network to communicate data between four nodes. All nodes are connected to each other through a physically conventional two wire bus CANH and CANL. The wires are a twisted pair with 120 Ω termination resistors at each end of the bus. 1s and 0s are transmitted as CAN High(0V difference) and Can Low(2v difference). A CAN frame has the following contents:

  • Data Length Code (4bits)
  • Remote Transmission Request.
  • ID extend bit.
  • Message ID (11 bit or 29 bit)
  • Data bytes( depends on DLC)
  • CRC


Arbitration: No two nodes will transmit at the same time because of arbitration. A lower Message-ID has a Higher priority on the CAN bus since 0 is the dominant bit.

Bit Stuffing: CAN bus stuffs extra bits when a long chain of multiple 1's or 0's occur to improve CAN integrity.

DBC File

The DBC file is a simple text file that consists of information for decoding raw CAN bus data to physical values or in human readable form.


Sr. No Message ID Message function Receivers
Driver command
1 300 Speed and steering direction for the motor Motor
2 100 Driver Heartbeat Motor, Sensor, Geo
Sensor Controller
3 200 Sensor sonars from front, back, left ,right sensor Driver
Motor Controller
4 600 motor speed, motor direction Driver
Geo and Bridge Controller
5 250 Bearing, Heading and Distance Driver
Debug messages
6 700 Driver Debug SENSOR,MOTOR,GEO_AND_BRIDGE
7 750 Geo Debug SENSOR,MOTOR,GEO_AND_BRIDGE
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_: DRIVER MOTOR BRIDGE_SENSOR GEO DEBUG

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

BO_ 101 DRIVE_STATUS: 1 BRIDGE_SENSOR
  SG_ DRIVE_START_STOP : 0|8@1+ (1,0) [0|0] "" DRIVER

BO_ 200 SENSOR_SONARS: 5 BRIDGE_SENSOR
 SG_ SENSOR_SONARS_left : 0|10@1+ (1,0) [0|0] "cm" DRIVER
 SG_ SENSOR_SONARS_right : 10|10@1+ (1,0) [0|0] "cm" DRIVER
 SG_ SENSOR_SONARS_middle : 20|10@1+ (1,0) [0|0] "cm" DRIVER
 SG_ SENSOR_SONARS_rear : 30|10@1+ (1,0) [0|0] "cm" DRIVER

BO_ 250 DESTINATION_LOCATION: 8 BRIDGE_SENSOR
 SG_ DEST_LATITUDE : 0|28@1+ (0.000001,-90.000000) [-90|90] "degrees" GEO
 SG_ DEST_LONGITUDE : 28|28@1+ (0.000001,-180.000000) [-180|180] "degrees" GEO

BO_ 300 DRIVER_TO_MOTOR: 2 DRIVER
SG_ DRIVER_TO_MOTOR_speed : 0|8@1+ (0.1,-10) [-10|10] "kmph" MOTOR, BRIDGE_SENSOR
 SG_ DRIVER_TO_MOTOR_direction : 8|8@1+ (1,-45) [-45|45] "degrees" MOTOR, BRIDGE_SENSOR

BO_ 400 GEO_CONTROLLER_COMPASS: 8 GEO
  SG_ HEADING : 0|12@1+ (0.1,0) [0|359.9] "degrees" DRIVER, BRIDGE_SENSOR
  SG_ BEARING : 12|12@1+ (0.1,0) [0|359.9] "degrees" DRIVER,BRIDGE_SENSOR
  SG_ DISTANCE_TO_DESTINATION: 24|32@1+ (0.01,0) [0|359.9] "meters" DRIVER,BRIDGE_SENSOR

BO_ 600 MOTOR_SPEED: 2 MOTOR
SG_ MOTOR_SPEED_info : 0|8@1+ (0.1,-10) [-10|10] "kmph" DRIVER, BRIDGE_SENSOR


BO_ 700 DRIVER_DEBUG: 2 DEBUG
  SG_ car_driving_status: 0|8@1+ (1,0) [0|0] "" DEBUG
  SG_ car_steering_status: 8|8@1+ (1,0) [0|0] "" DEBUG

BO_ 750 GEO_CONTROLLER_DEBUG_MESG: 10 DEBUG
 SG_ CURR_LATITUDE : 0|28@1+ (0.000001,-90.000000) [-90|90] "degrees" DEBUG
 SG_ CURR_LONGITUDE : 28|28@1+ (0.000001,-180.000000) [-180|180] "degrees" DEBUG
 SG_ RAW_HEADING : 56|12@1+ (0.1,0) [0|359.9] "degrees" DEBUG

CM_ BU_ DRIVER "The driver controller driving the car";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BU_ SENSOR "The sensor controller of the car";
CM_ BO_ 100 "Sync message used to synchronize the controllers";
CM_ BU_ GEO "To provide raw GPS and compass heading";
CM_ SG_ 100 DRIVER_HEARTBEAT_cmd "Heartbeat command from the driver";

VAL_ 700 car_steering_status 2 "RIGHT" 1 "LEFT" 0 "STRAIGHT";
VAL_ 700 car_driving_status 2 "BACKWARD" 1 "FORWARD" 0 "STOPPED";

The ECUs

In this section we will explain the hardware design, logic and challenges faced during development of every node invloved.


Sensor and Bluetooth ECU

Sensor Controller Diagram

The obstacle detection sensors used here are Ultrasonic sensors. The HRLV-MaxSonar-EZ1 sensors from MaxBotix are used here. In these sensors there is membrane which needs to be triggered in order to generate and send ultrasonic objects every few seconds. When ultrasonic waves collide and come back and strikes with this membrane a pulse is generated which is used for sensing.

Software Design

The sensor node has to receive values from all the sensors and send the distance values on the CAN bus for the driver to run the obstacle avoidance logic.

1. Receive sensor values:

Four sensors are used here. Three in the front and one at the rear side. We need four ADC channels to address the receiving from all sensors. In order to use four pins on the SJ2 board we need to set the pins to analog mode. In the adc.h file and adc.c file there are only three channels initialized, so one needs to add ADC channel 3 in these files. On how to use these sensors, the datasheet of helped a lot. It addresses every aspect of how to use this particular sensor and the solution to most of the problem that can arise. All the sensor raw values are digitally converted in the range of 0 to 1024( 10 bit ADC). These value is in inches as mentioned in the datasheet. So, one needs to convert it into centimeter by applying some formula. The formula can be different based on the configuration used to setup the ADC channel even if same sensor is used.

Technical Challenges

The main challenge while using ultrasonic sensor with this particular project is of crosstalk. While detecting objects in the front all the front sensors waves are interfering with each other giving false values in the left or right sensor while the object is in the front only. The datasheet addresses this issues and what to do when multiple sensors are used in a system. It says that trigger each sensor are different time period in order to avoid crosstalk. So we triggered the front and rear at one particular time and left and right at one particular time. One sequence is triggered at

Neighboring Sensor Interference:

Frequent noisy measurements:



Motor ECU

The Motor ECU acts as an encoder for the DC motor (used for propulsion) and Servo motor (used for turning the axle and changing direction of the car). The car is a two wheel drive with DC motor connected to the rear wheels and the servo motor is connected to the front wheels. The DC motor is controlled by Electronic Speed Control. The ECU supplies PWM signal to the ESC and the ESC powers the DC motor. The Servo motor is powered by the car battery as well and gets its PWM signal from the ECU. The RPM sensor sends its output to motor ECU by which the actual speed of the wheels is calculated.

Hardware Design

Hardware Schematic Diagram

ESC & DC Motor

The DC motor is controlled by ESC using PWM signals provided by the motor controller for forward and reverse movements. We used the 9v NiMH battery to power up the ESC. The DC motor is powered by the ESC which has a dc-to-dc converter which converts 9v to 6v. The output from the ESC is used to power the Servo motor. ESC has an ease set button which is used for calibration and setting different modes for the car.

Wires on ESC Description Wire Color
PWM(P2.1) Takes PWM input from SJ2-Board WHITE
VDD(6V) Power Output RED
GND Ground BLACK


The car can be operated in the following 3 modes:
Sport mode(100% Forward, 100% Brakes, 100% Reverse)
Racing mode(100% Forward, 100% Brakes, No Reverse)
Training mode(50% Forward, 100% Brakes, 50% Reverse)

As we needed more than 50% speed for steep ramps, we used Sport mode. The frequency of the PWM signal fed to the servo motor is 100Hz. Based on the duty cycle set by the user, the car will go forward, reverse, or neutral. 10% - 20% duty cycle for reverse. 15% duty cycle for neutral. 15%-20% duty cycle for the forward motion.


Traxxas ESC
Traxxas Brushless DC Motor

Servo Motor

The servo motor we used is Traxxas 2075 which was provided with the car and it is responsible for steering the car. It takes the 6V power directly from ESC. The servo motor is controlled directly from the SJ2 micro-controller board. The PWM signal fed to the servo motor is of frequency 100Hz. Based on the duty cycle of the signal sent to the servo, it rotates in the left / right direction. 10% - 20% duty cycle for left. 15% duty cycle for straight. 15%-20% duty cycle for right.

Wires on ESC Description Wire Color
PWM(P2.0) Takes PWM input from SJ2-Board WHITE
VDD(6V) Power Input RED
GND Ground BLACK
Traxass Servo Motor

RPM Sensor

There are two parts to the RPM sensor - one is the trigger magnet and the other is the sensor. The RPM sensor is used as an input to maintain a constant speed of the vehicle. The sensor mounts on the inside of the gear cover, the trigger magnet mounts on the DC motor shaft. The gear cover and motor shaft need to be removed using the toolkit provided along with the RC car. The procedure is similar to this video, but note that the car used in the video is a 4WD RC car by Traxxas. We made use of the trigger magnet attached to the spur gear to trigger a pulse on the sensor for every rotation of the spur gear. These pulses are then read by the SJ2 board to calculate rotations in a second and later convert it to RPM and MPH. The RPM sensor has 3 wires, the white wire is the output wire that provides the pulses to the SJ2 Board, and the other wires are Supply(6V) and GND. We also used a Pull Down 1K Resistor between Supply and RPM output wires.

Wires on ESC Description Wire Color
GPIO(P0.6) Provides pulses to Motor SJ2-Board WHITE
VDD(6V) Power Input RED
GND Ground BLACK


Traxxas RPM Sensor
Trigger Magnet

Software Design

The motor node acts based on the speed and direction received over CAN bus from the Driver Node. The positive speed values are treated as forward motion and the negative speed values are considered to be the reverse motion of the RC car.

The steering angles are divided into 5-degree segments and the motor node sends the pre-defined pwm duty cycle of the particular segment to the servo motor depending on the angle value received from the driver node.


Speed Control Flowchart

Technical Challenges



Geographical And Bridge Controller

Hardware Design

Software Design

The GEO controller consisted of 4 main parts which are: 1. GPS Module 2. Compass 3.Waypoints Algorithm 4. Geo Logic

The Geo logic takes data from GPS module processes it to get current coordinates, takes data from compass for raw heading. After acquiring data from compass and GPS, it calculates heading , bearing and distance and sends it on CAN bus.

1. GPS Processing

The GPS module uses UART1 to communicate with our SJ2 board. The API call for the GPS driver requires setting up the gps registers to only allow GPGGA data to improve processing. The main API function is called gps__run_once() which digests data from the physical GPS hardware. Inside gps__run_once(), we call two functions that help with parsing the gps coordinates. The first is taking using a line buffer for the UART characters that are digested during operation and checking if they are in fact a full GPGGA string. The second function parses those coordinates from the line buffer and converts them from GPGGA minutes data to polar coordinates. Once the function is called, global static variables located in geo_gps.c are used while a gps__get_coorindate() function is called whenever the API's data wants to be used outside of the gps.c file. In order to check if there is a gps fix, we created a function that checks if certain GPGGA bits are set or not.

2.

Technical Challenges


Driver Node

Driver Node is the master controller. It receives input from sensor and bridge node, processes it to make right decision for controlling the speed and steering direction of the car and then commands the motor node to drive accordingly. This node is also interfaced to the LCD, which acts as dashboard of the car and displays information such as car speed and distance to destination on the screen.

Hardware

LCD is interfaced with the SJ2 board and it communicates over UART. P4.28 and P4.29 which is UART3 on board is used. Headlights and Tailights are also connected to the driver node using four GPIOs.

  • Sjtwo-board
  • LCD Display
  • Software Architecture Driver Logic

    • Basic_Logic
    • Obstacle Avoidance Logic
    • Reverse Functionality


    Obstacle Avoidance Logic

    if (obstacle_on_all_front_sides()) {
              stop_the_car();
              reverse_car_and_steer();
            } else if (obstacle_on_left() && obstacle_in_right() && (!obstacle_on_front())) {
              drive_forward();
            } else if (obstacle_on_left() && (!obstacle_in_right())) {
              obstacle_on_right = false;
              get_steering_range(obstacle_on_right); // right steer
            } else if (obstacle_in_right() && (!obstacle_on_left())) {
              obstacle_on_right = true;
              get_steering_range(obstacle_on_right); // left steer
            } else if (obstacle_on_front() && (!obstacle_on_left() && !obstacle_in_right())) {
              stop_the_car();
              reverse_car_and_steer();
              obstacle_on_right =
                  (internal_sensor_data.SENSOR_SONARS_right < internal_sensor_data.SENSOR_SONARS_left) ? true : false;
              get_steering_range(obstacle_on_right);
    
            } else if (obstacle_on_rear() && (!obstacle_on_all_front_sides())) {
              obstacle_on_right =
                  (internal_sensor_data.SENSOR_SONARS_right < internal_sensor_data.SENSOR_SONARS_left) ? true : false;
              get_steering_range(obstacle_on_right);
              debug_values.car_driving_status = FORWARD;
              debug_values.car_steering_status = STRAIGHT;
            } else {
              stop_the_car();
    
              debug_values.car_driving_status = STOPPED;
              debug_values.car_steering_status = STRAIGHT;
            }
    


    Steer Left and Right

      if (obstactle_on_right == true) {
        //steer left
        motor_signal.DRIVER_TO_MOTOR_direction = (motor_signal.DRIVER_TO_MOTOR_direction <= 40)
                                                     ? motor_signal.DRIVER_TO_MOTOR_direction + offset_to_angle
                                                     : max_angle_threshold;
        motor_signal.DRIVER_TO_MOTOR_speed = slow_speed;
        update_lights(10, headlight_left);
    
      } else {
        //steer right
        motor_signal.DRIVER_TO_MOTOR_direction = (motor_signal.DRIVER_TO_MOTOR_direction >= -40)
                                                     ? motor_signal.DRIVER_TO_MOTOR_direction - offset_to_angle
                                                     : -max_angle_threshold;
    
        motor_signal.DRIVER_TO_MOTOR_speed = slow_speed;
        update_lights(10, headlight_right);
      }
    

    Reverse and Steer

      if (!obstacle_on_rear()) {
        motor_signal.DRIVER_TO_MOTOR_direction = 0;
        motor_signal.DRIVER_TO_MOTOR_speed = reverse_speed;
        update_lights(10, taillight_left);
        update_lights(10, taillight_right);
      } else {
        stop_the_car();
      }
    

    Navigation to Destination

    Driver receives raw heading and bearing from the Geo node and in order to calculate the turning direction, it first computes the difference between heading and bearing. Then based on which quadrant the difference lies and where the destination lies, take navigation decisions to steer left, right or straight.

    if (heading_difference >= 350 && heading_difference <= 10) {
        gps_navigation_direction = straight;
        heading_difference = fabs(heading_difference);
    
        debug_values.car_driving_status = FORWARD;
        debug_values.car_steering_status = STRAIGHT;
      } else if (heading_difference > 180) {
        gps_navigation_direction = left;
        heading_difference = 360 - heading_difference;
    
        debug_values.car_driving_status = FORWARD;
        debug_values.car_steering_status = LEFT;
    
      } else if (heading_difference < 0 && heading_difference > -180) {
        gps_navigation_direction = left;
        heading_difference = fabs(heading_difference);
    
        debug_values.car_driving_status = FORWARD;
        debug_values.car_steering_status = LEFT;
      }
    
      else if (heading_difference < -180) {
        gps_navigation_direction = right;
        heading_difference = fabs(heading_difference + 360);
    
        debug_values.car_driving_status = FORWARD;
        debug_values.car_steering_status = RIGHT;
      } else if (heading_difference > 0 && heading_difference <= 180) {
        gps_navigation_direction = right;
    
        debug_values.car_driving_status = FORWARD;
        debug_values.car_steering_status = RIGHT;
      }
    

    Technical Challenges

    • Driver receives data from sensor and geo node, so mainly the issue was sometimes not getting data accurate data from sensors or receiving late. This has made the obstacle avoidance quite slow. Make sure the sensor is transmitting data fast enough and driver is also receiving fast.
    • Driver Node has the least hardware interfacing compared to other nodes, so there were not many challenges on hardware front. If the LCD communicates over UART, remember to connect the gnd of both lcd and board otherwise the data printed on LCD could be gibberish.
    • High speed of car can also cause to problem for sensors, we noticed that they cannot accurately detect obstacles on high speed.
    • Compass calibration was also issue sometimes, if not properly calibrated the car will have trouble navigating to gps location.


    Mobile Application

    User Interface

    Software Design

    Maps Activity

    Bluetooth/WIFI

    Technical Challenges





    Conclusion

    Project Video

    Project Source Code

    Advise for Future Students

    • Get started early and make your hardware stable as early as possible so that you have enough time for extensive testing of the software. Because without on field testing corner cases and potential problems in the code can't be determined.
    • We took references from previous projects and ran into problems due to lack of information. Ensure that you fully understand both software and hardware you are taking reference from before implementing on the car.
    • First of all make your motor run smoothly only then you will be able to do on field testing. So even if you have to use initial week to get the motor part ready. Buy new hardware for that to---- to be continued (Ritika)

    Acknowledgement

    References

    http://socialledge.com/sjsu/index.php/Industrial_Application_using_CAN_Bus