Difference between revisions of "F16: Spartan and Furious"
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*<font color="clouds">Interface of master controller with GPS module.</font> | *<font color="clouds">Interface of master controller with GPS module.</font> | ||
<font color="green"></font> | <font color="green"></font> | ||
− | <font color="CARROT"></font> | + | <font color="CARROT">Algorithm implemented for distance and heading calculation</font> |
− | <font color="CARROT"></font> | + | <font color="CARROT">Calibration of Magnetometer ongoing</font> |
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|In Progress | |In Progress |
Revision as of 02:04, 23 November 2016
Contents
Project Title
Abstract
This section should be a couple lines to describe what your project does.
Objectives & Introduction
Show list of your objectives. This section includes the high level details of your project. You can write about the various sensors or peripherals you used to get your project completed.
Team Members & Responsibilities
- Android and Communication Bridge:
- Geographical Controller:
- Master Controller:
- Motor Controller
- Sensor and I/O Controller:
Schedule
Legend:
Motor Controller , Master Controller , Android Controller, Geo Controller, Sensor and I/O Controller , Team Goal
Week# | Date | Task | Actual | Status |
---|---|---|---|---|
1 | 9/17/2016 |
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Complete. |
2 | 9/24/2016 |
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Complete |
3 | 10/01/2016 |
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Complete |
4 | 10/08/2016 |
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Complete |
5 | 10/15/2016 |
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Complete |
6 | 10/22/2016 |
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Complete. |
7 | 10/29/2016 |
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Complete. |
8 | 11/05/2016 |
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Integration and Testing completed for the first demo. | Complete. |
9 | 11/12/2016 |
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Complete. |
10 | 11/19/2016 |
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Complete |
11 | 11/26/2016 |
Algorithm implemented for distance and heading calculation Calibration of Magnetometer ongoing |
In Progress | |
12 | 12/03/2016 |
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13 | 12/10/2016 |
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Parts List & Cost
Item# | Part Description | Vendor | Qty | Cost |
---|---|---|---|---|
1 | SJ One Board (LPC 1758) | From Preet | 6 | $480 |
2 | RC Car | Sheldon Hobbyist | 1 | $309.99 |
3 | Accelerometer/Magnetometer LSM303 | Adafruit | 2 | $40.00 |
4 | Bluetooth Module | From Preet | 2 | $0 |
5 | CAN Transceivers | From Microchip. | 10 | $0 (Free Samples) |
6 | Battery Pack | From Sheldon Hobbist | 1 | $49.99 |
7 | Ultra Sonic Sensor | From Maxbotix | 5 | $91.15 (at 40% student discount) |
8 | LCD Display | From Digikey | 1 | $94.21 |
9 | GPS Module | From Adafruit | 1 | $43.34 |
10 | General Components | From HSC electronics | - | $83.17 |
11 | DC Current Sensor | From Adafruit | 1 | $14.39 |
12 | PCB | From Amazon | 1 | $10.66 |
13 | Corrugated Sheet for chasis | From Home Depot | 1 | $6.74 |
DBC File
ECUs
Motor Controller
Group Members
Design & Implementation
The motor controller is responsible for generating the driving and steering action of the car. For this purpose, we have two types motors viz DC motor for driving and Servo motor which is used for changing directions of the car. The motor controller is also interfaced with a speed encoder for generating a feedback mechanism to automatically control and monitor the speed of the car. Our car came equipped with a Servo motor and brushed DC motor which is connected Electronic Speed Control (ESC).
Hardware Design
Hardware Interface
Software Design
Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.
Implementation
This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.
Testing & Technical Challenges
Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.
Android and Communication Bridge
Group Members
Design & Implementation
The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.
Hardware Design
Discuss your hardware design here. Show detailed schematics, and the interface here.
Hardware Interface
In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.
Software Design
Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.
Implementation
This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.
Testing & Technical Challenges
Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.
Geographical Controller
Group Members
Design & Implementation
The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.
Hardware Design
Discuss your hardware design here. Show detailed schematics, and the interface here.
Hardware Interface
In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.
Software Design
Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.
Implementation
This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.
Testing & Technical Challenges
Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.
Sensor and I/O
Group Members
Design & Implementation
We are using Maxbotix LV-EZ Ultrasonic sensors (MB1000). The configuration of the sensor is 3:1 that is three sensors in the front separated by 60 degrees apart and one in the rear. The ultrasonic sensors mounted on the car are used to detect the obstacle on its route. These sensors are connected to the SJOne board and work with a 5.0V power supply. The SJ One board then sends the sensors message with the help of CAN bus.
The pin description of Maxbotix LV-EZ Ultrasonic sensors is as follows:
Pin 1-BW- Unused, leave disconnected or connect to circuit common ground.
Pin 2-PW- Digital Proximity Logic, outputs a High/Low logic voltage level depending on proximity detection. High means an object has been detected in the detection zone. Low means no object is present. There is a ~2.5 second delay on acquiring targets and a ~1.5 second delay for releasing a target once detected. This hysteresis improves sensor reliability.
Pin 3-AN- Unused, leave disconnected or connect to circuit common ground.
Pin 4-RX- This pin is internally pulled high. The LV-ProxSonar-EZ will continually measure proximity information and output send to data. Leave the pin disconnected or hold the pin high for proximity information. Hold low to stop all sensor activity and reset acquire timers. Upon returning to a high state, the sensor will initiate a calibration sequence.
Pin 5-TX- The TX output delivers asynchronous serial with an RS232 format, except voltages are 0-Vcc
Pin 6-+5V- Vcc – Operates on 2.5V - 5.5V. Recommended current capability of 3mA for 5V, and 2mA for 3V.
Pin 7-GND- Return for the DC power supply. GND (& Vcc) must be ripple and noise free for best operation.
Hardware Design
Ultrasonic Sensor
There are three ultrasonic sensors for the front of the car positioned at different angles to provide a wide ultrasonic "vision" for the car. The mount for the sensors was 3D printed such that we have the flexibility to change the angle of the sensor at a later stage when debugging the sensor.
Hardware Interface
In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.
Software Design
The readings from the sensor is taken in the form of PWM signals with the help of interrupts. The following steps should be performed to take readings and calculating distance from the sensor
1) Configure the PW pin of sensor as input.
2) Configure RX pin of the sensor as output and set it high.
3) Enable the Rising and the Falling edge interrupt on the PW pin of the sensor.
4) Start timer at the rising edge of the interrupt (time T1).
5) At falling Edge of the interrupt stop the timer (time T2).
6) The distance of the obstacle is = (T2-T1)/147 inches.
7) Apply average filter. That is take 3 readings of each sensor and perform average of it.
8) Send this average value in a 10Hz task on CAN bus to Master and IO controller.
Implementation
This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.
Testing & Technical Challenges
Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.
Master Controller
Group Members
Design & Implementation
The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.
Hardware Design
Discuss your hardware design here. Show detailed schematics, and the interface here.
Hardware Interface
In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.
Software Design
Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.
Implementation
This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.
Testing & Technical Challenges
Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.
Conclusion
Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?
Project Video
Upload a video of your project and post the link here.
Project Source Code
References
Acknowledgement
Any acknowledgement that you may wish to provide can be included here.
References Used
List any references used in project.
Appendix
You can list the references you used.