Difference between revisions of "F16: Thunderbolt"

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(→‎GPS Module)
(→‎GPS Module)
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The GPS Module used is SparkFun Venus GPS with SMA Connector based on Venus638FLPx IC.  
 
The GPS Module used is SparkFun Venus GPS with SMA Connector based on Venus638FLPx IC.  
 
It sends out the information in standard NMEA-0183 format or Skytraq Binary sentence format.
 
It sends out the information in standard NMEA-0183 format or Skytraq Binary sentence format.
−
The default rate is 9600 bps and is configurable up to 115200 bps, with update rates up to 20 Hz.
+
The default rate is 9600 bps and is configurable up to 115200 bps.
−
 
+
The update rate of this GPS module is up to 20Hz. This indicates how often it recalculates and reports its position.
 
We have configured the module to a rate of 38400 bps UART at 5 Hz.
 
We have configured the module to a rate of 38400 bps UART at 5 Hz.
 
Skytraq GUI is used to configure the GPS module
 
Skytraq GUI is used to configure the GPS module

Revision as of 23:45, 30 November 2016

Project Title

Thunderbolt - a self driving RC car

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 Schedule

Color Legends :

  • Common to all modules
  • Master Controller
  • Motor Controller
  • Sensor Controller
  • Geographical Controller
  • Communication Bridge
Sr No Start Date End Date Task Status Problems/Delays if any
1 09/14/2016 09/20/2016
  • Read previous reports to understand the working of the entire project
  • Individual module distribution
Completed
2 09/21/2016 09/27/2016
  • Set up Git
  • Create project report template on Wiki
  • Understanding the motor and PWM concept
 Completed
3 09/28/2016 10/04/2016
  • Study previous reports to decide on components to be ordered and to get an idea about the flow
  • Order the components
  • Testing Servo and DC motor using RC Transmitter and Receiver
  • Development of basic android app for one directional Bluetooth communication
 Completed
4 10/05/2016 10/11/2016
  • Follow-up on the ordered parts and Order the remaining components
  • Development of basic android app for plotting Google Map route between two points
  • Testing of Bluetooth Module with SJ-One Board using available Bluetooth app on Android app store
Completed
5 10/12/2016 10/18/2016
  • Follow-up on the ordered parts
  • Create branches in Git
  • Decide/Develop the CAN message ID and node address for all controllers
  • Testing and interfacing of servo and DC motor with SJOne Board
  • Sensor Data Sheet Review with team
 Completed
6 10/19/2016 10/25/2016
  • Follow-up on the ordered parts
  • Design the CAN message ID and node address for all controllers based on the priority level
  • Design the DBC file consisting of the signals from all the modules
  • Integrate the Bluetooth module with the Master controller over CAN bus
  • Understanding the RPM sensor interfacing
  • Test the Individual sensors to get accurate measurements according to data sheet
  • Determine pins and architecture of board for sensor controller
  • Interface the compass module to SJOne board using I2C communication
  • Bi-directional communication between SJ-ONE Board and Android App
 Completed
7 10/26/2016 11/01/2016
  • Interface the Motor module with the Master controller over CAN bus
  • Design a power circuit on RC car with motors interfaced to SJOne board
  • Develop entire board algorithm for all sensors
  • Develop the algorithms for distance and turn angle calculation
  • Interfacing of GEO controller with Master
  • Interface Android and Bluetooth module with CAN
Completed
8 11/02/2016 11/08/2016
  • Design the algorithm for navigation and obstacle avoidance in Master controller
  • Interface the sensor controllers with the Master controller over CAN bus
  • Interfacing the Master controller with GPS module
  • Establishing reliable CAN communication for motors with master controller
  • Interfacing of sensors with motors and testing obstacle avoidance
  • Mount all ultrasonic sensors on car and test it
  • Start implementation of CAN bus by testing sending and receiving of messages
  • Calibrate the compass module and testing
 Completed Compass Calibration is ongoing
9 11/09/2016 11/15/2016
  • Designing of the kill switch
  • Integrating it with the master controller, testing and debugging
  • Complete implementation of the sensor controller with the Master controller over CAN bus
  • Fine-tune algorithms for sensor
  • Interfacing with GPS module using CAN bus for receiving current location
  • Interface GPS module to SJOne board using UART communication
  • Calibrating the GPS and testing
 In Progress
10 11/16/2016 11/22/2016
  • Testing the Master module with all controllers interfaced
  • LCD module interfacing and adding extra features.
  • Test the implementation for multiple sensors and debugging the issue
  • Decide upon additional I/O such as lights
  • Integrating of GPS and compass module
  • Interfacing of GEO controller with Android
  • Integrating com_bridge with entire system
11 11/23/2016 11/29/2016
  • Take care of modifications and shortcomings if any
  • Optimize the code and testing for stability and report
  • Interfacing of GEO controller with LCD
  • Unit Testing of GEO controller and bug fixes and re-calibrate if needed.
  • Testing and bug fixes
12 11/30/2016 12/06/2016
  • Improvise the communication on CAN bus
  • Testing and debugging
  • Android App GUI enhancements and bug fixes
13 12/07/2016 12/13/2016
  • Final testing of Self-Driving Car

Team members and Responsibilities

  • Master Controller
    • Abhishek Singh
    • Saurabh Ravindra Deshmukh
    • Neha Biradar
  • Motor Controller
    • Krishank Mehta
    • Neha Biradar
    • Saurabh Ravindra Deshmukh
  • GPS/Compass Module
    • Samiksha Ambekar
    • Virginia Menezes
  • Sensors
    • Arthur Nguyen
    • Rajeev Sawant
    • Samiksha Ambekar
  • Bluetooth
    • Abhishek Singh
    • Nikhil Namjoshi
  • Android Application
    • Nikhil Namjoshi
    • Saurabh Ravindra Deshmukh

Parts List & Cost

Item# Part Desciption Vendor Datasheet Qty Cost
1 RC Car from Preet 1
2 CAN Transceivers MCP2551-I/P Microchip [1] MCP2551-I/P Datasheet [2] 8 Free Samples
3 Sonar Sensor Amazon [3] Maxbotix EZ1 MB 1010 Datasheet [4] 4 $24.95
4 GPS with SMA Connector SparkFun [5] Venus638FLPx Datasheet [6] 1 $49.95
5 Compass (CMPS11) Acroname [7] 1 $45.95
6 Antenna GPS Embedded SMA Sparkfun [8] 1 $11.95
7 Bluetooth to Serial Port Module HC-05 Gearbest.com [9] 1 $3.25
8 Magnets Amazon.com [10] 1 $4.56

DBC File

The DBC file implementation can be accessed at the following link:

https://gitlab.com/singh.abhishek21/Thunderbolt_CMPE243/blob/master/243.dbc

CAN Communication Table

Sr. No Message ID Message function Message Data From To
High
1 0x148 Communication bridge
(


Master Controller

Schedule

Sr No Start Date End Date Task Status Actual Completed Date
1 10/12/2016 10/18/2016
  • Decide/Develop the CAN message ID and node address for all controllers
 Completed
2 10/19/2016 10/25/2016
  • Integrate the Bluetooth module with the Master controller over CAN bus
Completed
3 10/25/2016 11/01/2016
  • Interface the Motor module with the Master controller over CAN bus
 Completed
4 11/02/2016 11/08/2016
  • Design the algorithm for navigation and obstacle avoidance
  • Interface the sensor controllers with the Master controller over CAN bus
  • Interfacing the Master controller with GPS module
 In Progress
5 11/09/2016 11/15/2016
  • Designing of the kill switch
6 11/16/2016 11/22/2016
  • Testing the Master module with all controllers interfaced
7 11/23/2016 11/29/2016
  • Take care of modifications and shortcomings if any
8 11/30/2016 12/06/2016
  • Improvise the communication on CAN bus
9 12/07/2016 12/13/2016
  • Final Testing of self driving car

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 Controller

Group Members

  • Arthur Nguyen
  • Rajeev Sawant

Schedule

Sr No Start Date End Date Task Status Actual Completion Date
1 10/05/2016 10/11/2016
  • Choose appropiate components
  • Read through wiki to find out components used in earlier projects.
  • Ordered additional ultrasonic sensors.
 Complete 10/11/2016
2 10/12/2016 10/18/2016
  • Sensor Data Sheet Review with team.
  • Follow up on ordered parts
 Complete 10/18/2016
3 10/19/2016 10/25/2016
  • Test the Individual sensors to get accurate measurements according to data sheet
  • Determine pins and architecture of board
 Complete 10/25/2016
4 10/26/2016 11/01/2016
  • Develop entire board algorithm for all sensors
 Complete 11/01/2016
5 11/02/2016 11/08/2016
  • Created 3D Printed Mount for all ultrasonic sensors on car and test it.
  • Start implementation of CAN bus by testing sending and receiving of messages
 Complete
6 11/09/2016 11/15/2016
  • Complete implementation of the sensor controller with the Master controller over CAN bus
  • Fine-tune algorithms for sensor.
7 11/16/2016 11/22/2016
  • Test the implementation for multiple sensors and debugging the issue.
  • Decide upon additional I/O such as lights
8 11/23/2016 11/29/2016
  • Optimize the code and testing for stability and report.
8 11/30/2016 12/06/2016
  • Testing and Debugging.

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

The sensor controller is the crux of the obstacle avoidance algorithm of the car.

It consists of four ultrasonic sensors connected to the LPC1758 board. We have used the MaxSonar MB1010 sensor as it provides a good balance between sensitivity and object rejection. Three of the sensors (left, center and right) are placed in the front and one sensor is positioned at the back.

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.

MaxSonar MB1010 Sensor

MaxSonar MB1010 Sensor













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.

1. Delay time of RX

2. Angle of sonar sensors

Motor & I/O Controller

Group Members

  • Krishank Mehta
  • Saurabh Deshmukh
  • Neha Biradar

Schedule

Sr No Start Date End Date Task Status Actual Completed Date Problems Encountered if any
1 9/19/2016 9/27/2016
  • Understanding the motor and PWM concept.
 Completed 9/25/2016
2 9/28/2016 10/4/2016
  • Testing Servo and DC motor using RC Transmitter and Receiver.
 Completed 10/5/2016
3 10/7/2016 10/10/2016
  • Testing and interfacing of servo and DC motor with SJOne Board
 Completed 10/10/2016 Problem with finding the starting pwm pattern for DC Motor
4 10/11/2016 10/18/2016
  • Design of CAN message ID for motor controller.
 Completed 10/17/2016
5 10/20/2016 10/24/2016
  • LCD module programming and understanding the RPM sensor interfacing.
 In progress
6 10/26/2016 10/28/2016
  • Design a power circuit on RC car with motors interfaced to SJOne board.
  • Integrating speed sensor.
 Completed 11/26/2016
7 11/01/2016 11/08/2016
  • Establishing reliable CAN communication for motors with master controller.
 In progress
8 11/15/2016 11/18/2016
  • Interfacing of sensors with motors and testing obstacle avoidance .
 Completed 11/7/2016
9 11/18/2016 11/22/2016
  • Integrating it with the master controller, testing and debugging
 In progress

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

  • Samiksha Ambekar
  • Virginia Menezes

Schedule

Sr No Start Date End Date Task Status Actual Completed Date Problems/Delay if any
1 09/14/2016 09/20/2016
  • Study previous reports to research which components to order
Completed 09/20/2016
2 09/21/2016 09/27/2016
  • Git and wiki report setup
 Completed 09/27/2016
3 09/28/2016 10/04/2016
  • Order GPS module, Compass and antenna
Completed 10/04/2016
4 10/05/2016 10/11/2016
  • Follow-up on ordered parts
 Completed 10/11/2016
5 10/12/2016 10/18/2016
  • Developing the DBC File format for signals between GEO controller and Master, Android app and IO
 Completed 10/18/2016
6 10/19/2016 10/25/2016
  • Interface the compass module to SJOne board using I2C communication
Completed 10/20/2016
7 10/26/2016 11/01/2016
  • Develop the algorithms for distance and turn angle calculation
  • Interfacing of GEO controller with Master
 Completed 10/31/2016
8 11/02/2016 11/08/2016
  • Calibrate the compass module and testing
Completed 11/07/2016
9 11/09/2016 11/15/2016
  • Interface GPS module to SJOne board using UART communication
  • Calibrating the GPS and testing
 Completed 11/13/2016
10 11/16/2016 11/22/2016
  • Integrating of GPS and compass module
  • Interfacing of GEO controller with Android
 Completed 11/20/2016
11 11/23/2016 11/29/2016
  • Interfacing of GEO controller with LCD
  • Unit Testing of GEO controller and bug fixes and re-calibrate if needed.
 In Progress
12 11/30/2016 12/06/2016
  • Testing of GEO controller with other modules and re-calibration, if required |
 In Progress
13 12/07/2016 12/13/2016
  • Final Testing

Design & Implementation

The Geographical Controller is used to track the current location of the car. The module comprises of a GPS module and a compass.

Once the user choses the destination point on the Android application, the app will map the shortest path available from the current location to the destination and plot multiple checkpoints based on that. The coordinates of these checkpoints are sent to the GEO controller, which will calculate the distance between the current location of the car and the next checkpoint and the turn angle required to reach the next checkpoint and send this information to the Master controller.

Hardware Design

The GPS module used is SparkFun Venus GPS with SMA Connector [11]. And the Compass is CMPS11 compass [12]

Hardware Interface

GPS Module

SparkFun Venus GPS with SMA Connector
SparkFun Venus GPS with SMA Connector

The GPS Module used is SparkFun Venus GPS with SMA Connector based on Venus638FLPx IC. It sends out the information in standard NMEA-0183 format or Skytraq Binary sentence format. The default rate is 9600 bps and is configurable up to 115200 bps. The update rate of this GPS module is up to 20Hz. This indicates how often it recalculates and reports its position. We have configured the module to a rate of 38400 bps UART at 5 Hz. Skytraq GUI is used to configure the GPS module


The module outputs NMEA message in format of GGA - Global Positioning System Fix Data. Time, position and fix related data for a GPS receiver.

Structure: $GPGGA,hhmmss.sss,ddmm.mmmm,a,dddmm.mmmm,a,x,xx,x.x,x.x,M,,,,xxxx*hh<CR><LF>









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.

Communication Bridge Controller

Group Members

  • Nikhil Namjoshi
  • Saurabh Deshmukh

Schedule

Sr No Start Date End Date Task Status Actual Completed Date
1 9/27/2016 10/4/2016
  • Decide the Bluetooth module and purchase it.
  • Search online and read previous projects wikipedia pages.
 Complete 10/4/2016
2 10/6/2016 10/8/2016
  • Testing of Bluetooth Module with SJ-One Board using available bluetooth app on Android app store
 Complete 10/8/2016
3 9/30/2016 10/2/2016
  • Development of basic android app for one directional bluetooth communication.
 Complete 10/2/2016
4 10/2/2016 10/6/2016
  • Development of basic android app for plotting Google Map route between two points.
 Complete 10/6/2016
5 10/10/2016 10/25/2016
  • Bi-directional communication between SJ-ONE Board and Android App.
 In Progress
6 10/25/2016 11/2/2016
  • Interface android module with CAN
 Completed 10/31/2016
7 11/3/2016 11/11/2016
  • Interfacing with GPS module using CAN bus for receiving current location.
8 11/12/2016 11/23/2016
  • Integration with Master through CAN bus.
9 11/26/2016 12/5/2016
  • Android App GUI enhancements and bug fixes.

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.

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