Difference between revisions of "F16: Thunderbolt"

• 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

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

Master Controller

Schedule

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

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

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

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]

GPS Module

SparkFun Venus GPS with SMA Connector

GPS with antenna

The GPS Module we use in our project 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 and update rate of 5Hz using the configuration software provided by Skytraq GPS Viewer. Apart from configuration, all other information like data received from the GPS, if fix position, no. of satellites, latitude and longitude etc. all can be viewed through this software. Also it is possible to choose which NMEA message format we want the data in. For our car, we are using the GPGGA (Global Positioning System Fix Data) message format.

SkyTraq GPS Viewer

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

Example data: $GPGGA,120218.899,2400.0000,N,12100.0000,E,0,00,0.0,0.0,M,0.0,M,,0000*69

      where,
                $GPGGA   -- Global Positioning System Fix Data (Sentence Identifier)
            120218.899   -- UTC Time of position in hhmmss.sss format
             2400.0000   -- Latitude in ddmm.mmmm format
                     N   -- Latitude hemisphere indicator, ‘N’ = North, ‘S’ = South 
            12100.0000   -- Longitude in dddmm.mmmm format 
                     E   -- E/W Indicator
                     0   -- GPS quality indicator 
                              0: position fix unavailable 
                              1: valid position fix, SPS mode  
                              2: valid position fix, differential GPS mode 
                              3: GPS PPS Mode, fix valid 
                              4: Real Time Kinematic. System used in RTK mode with fixed integers 
                              5: Float RTK. Satellite system used in RTK mode. Floating integers 
                              6: Estimated (dead reckoning) Mode 
                              7: Manual Input Mode 
                              8: Simulator Mode 
                    00   -- Number of satellites in use (00~12)
                   0.0   -- HDOP (Horizontal dilution of precision), (00.0 ~ 99.9) 
                 0.0,M   -- Altitude in Meters - above mean sea level, (-9999.9 ~ 17999.9)
                 0.0,M   -- Height of geoid above WGS84 ellipsoid (mean sea level), (-9999.9 ~ 17999.9)
                  0000   -- DGPS Station ID - Differential reference station ID, 0000 ~ 1023 
                            NULL when DGPS not used  
                   *69   -- Checksum (begins with *)

Compass Module

The Compass Module we use in our project is CMPS11 - Tilt Compensated Compass Module.

Hardware Interface

Schematic

Hardware interface

Software Design

Algorithm

• Wait for START signal from COM Bridge
• Get current readings from GPS and compass module.

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

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

• Gitlab Code Link

References

Acknowledgement

Any acknowledgement that you may wish to provide can be included here.

References Used

List any references used in project.

Appendix