Difference between revisions of "F17: Tata Nano"

Revision as of 23:38, 24 October 2017

Grading Criteria

How well is Software & Hardware Design described?
How well can this report be used to reproduce this project?
Code Quality
Overall Report Quality:
- Software Block Diagrams
- Hardware Block Diagrams
  Schematic Quality
- Quality of technical challenges and solutions adopted.

PAGE UNDER CONSTRUCTION

Tata Nano

Self-Navigation Vehicle Project

Git Repository

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

Master Controller
- Manan Mehta
- Shivam Chauhan
Geographical Controller
- Kalki Kapoor
- Aditya Deshmukh
Communication Bridge + Android Application + LCD
- Ashish Lele
- Venkat Raja
Motor and I/O Controller
- Aditya Choudari
- Shashank Iyer
Sensor Controller
- Pushpender Singh
- Hugo Quiroz
Module Level Testing
- Manan Mehta
- Shashank Iyer

Project Schedule

Legend: Motor & I/O Controller , Master Controller , Communication Bridge Controller, Geographical Controller, Sensor Controller , Team Goal

Week#	Start Date	End Date	Task	Status
1	09/12/2016	09/19/2016	Order Components and work distribution Research on the type and model of sensors to use and order them Research on the GPS and compass sensors Research on components requirement based on past projects Research various RC car models	Completed
2	09/19/2016	09/26/2016	Set up git, slack channel, shared drive and wikipage Distribute parts to sub-groups Research various battery options especially NiMH and Li-Po batteries Android Development Environment Setup Research on various compatible bluetooth modules	Completed
3	09/26/2016	10/03/2016	Discuss software architecture of each module Study the data sheet of sensor & prepare a high-level design Experiment and Research on voltage requirements and PWM requirements for Servo and DC motor Experiment and Research on duty cycle required for controlling steer and speed of the car	Completed
4	10/03/2016	10/10/2016	Agree on control system architecture Design the mechanical structure of the car Research and study various LCD modules Start Basic Android Application development Interface the ultrasound sensor with the SJone board Research and study about LIDAR and its feasibility Controlling Bluetooth of Mobile Phone(i.e. Turn on, Connect), Connect Mobile phone with Bluetooth BLE module on SJOne.	Completed
5	10/10/2016	10/17/2016	Build the mechanical structure of the car Interface servo motor and ESC to the SJone board Interface GPS and Compass sensor to the micrcontroller Basic testing of LIDAR sensor to get accustomed with its output Build wrapper classes for steering and motor control Android Application development Intent passing, Finalize GUI template. Establishing basic communication between Android phone and SJOne Board.</font Stress test the ultrasound sensors and design a filter so that reliable readings are sent to the master. Experiment and research on precision control of speed and steering using signals from SJ One board. Design the barebones basic functionality of the algorithm. Create a skeleton code. Design software filter to filter CAN messages required for motor controller.	Completed
6	10/17/2016	10/24/2016	Making tentative DBC file containing communication messages of the entire system Mounted all boards on the car Interface all nodes over Can bus and coordinate order and status message transfers between Master and Nodes. PCAN interface should be built to view & test CAN messages via Busmaster. Decide on the CAN ids and the priorities of the CAN messaged for various nodes. Study and research about motor feedback RPM sensor. Read the CAN messages to display on the LCD connected to the SJ One board. Set up CAN communication between the sensor,motor and the master. Test for correct data transmission.	Completed
7	10/24/2016	10/31/2016	Integrate all hardware to the RC car, including power supplies from batteries. Test self powered prototype with the goal of controlling forward, reverse, left and right with start/stop command from the phone app. Test & fix basic integration bugs. Interface back sensor and test all the sensors together. Debug and fix any issues. Developing the framework for the I/O display and setting up SPI framework to read the CAN messages. Integrate sensors with other nodes via CAN and test the sensor values while the car is on the move. The master should have reliable data from sensors by now. Send signals to the motor controller from another CAN Node to control speed and steering using CAN interface. Creating necessary display messages and graphics related to the I/O modules. Design the algorithm to process the data received from the sensors and motors by the master. Integrate Google Map, Get Longitude and Latitude data from the position where Marker is placed, Get important data of other nodes from CAN bus. Integrating and testing motor & I/O controller with other nodes. Extend the algorithm to control the motors along with the obstacle information received from the sensors. Integrate bridge controller with other modules via CAN. Test & fix basic integration bugs.
8	11/30/2016	11/7/2016	Continue with hardware/software development & integration and complete first prototype of the collision avoidance feature. Design sensor mounts and 3D print them. Test and fine tune the algorithm developed so far for the first demo. Put multiple markers on Map and implement logic to find shortest route to destination and pass route information on CAN bus.
9	11/7/2016	11/14/2016	Integrate GPS coordinates from Android app into Master Node for autonomous feature. Mount the sensors and test for any dead band. Position them for maximum coverage. Obtain the data from the GPS and process the data to design the algorithm for navigation. Design and implement the kill switch to avoid the car from crashing. Integrate GPS coordinates from Android app into Master Node for autonomous feature. Testing and Bug fixing.
10	11/14/2016	11/21/2016	Integrate all nodes into one. Start testing car's autonomous driving capabilities with path following from GPS waypoints from Android app. Tune & optimize the sensor filter logic and the sensor mount as required. Integrate all the modules and test for the functionality. Save the data received from various modules into a log file for debugging purpose.
11	11/21/2016	11/28/2016	Autonomous driving should be working by now. Focus on improving car's performance. Tweak all nodes to better performance, and fix last minutes bugs. Interface Head lights and turn them ON based on light sensor value. Include the headlights and the LCD on the car and display messages on them.
12	11/22/2016	11/28/2016	Stress test the car with different environment scenarios. Improvise the algorithm and carry out stress testing and integration testing. Work on the modifications required and test previous hardware additions to the car.
13	11/29/2016		Final touches to improve overall vehicle's robustness. Self-fixing nodes, reduce/eliminate unexpected behaviors and crashes. Integration and testing. Work to improvise on the algorithms and make sure individual modules work. Addition of any extra features and software development.	-

Parts List & Cost

Item#	Part Desciption	Vendor	Qty	Cost
1	RC Car - Traxxas 1/10 Slash 2WD	Amazon	1	$189.95
2	Traxxas 2872X 5000mAh 11.1V 3S 25C LiPo Battery	Amazon	1	$56.99
3	Traxxas 7600mAh 7.4V 2-Cell 25C LiPo Battery	Amazon	1	$70.99
4	Traxxas 2970 EZ-Peak Plus 4-Amp NiMH/LiPo Fast Charger	Amazon	1	$35.99
5	Bluetooth Module HC-05	Amazon	1	$8.99
6	4D systems 32u LCD	4D systems	1	$41.55
7	LV Maxsonar EZ0 Ultrasonic sensors	Robotshop	5	$124.75
8	LIDAR Sensor	Robotshop	1	$190
9	Ultimate GPS breakout	Adafruit	1	$49.95
10	CAN tranceivers	Microchip Samples	10	Free
11	SJOne Boards	Provided by Preet	5	$400.0

DBC File Link

https://gitlab.com/shivam5594/Autonomous-car/blob/embedded/common_dbc/243.dbc

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.

Include sub-sections that list out a problem and solution, such as:

<Bug/issue name>

Discuss the issue and resolution.

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

Sourceforge Source 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

You can list the references you used.

@@ Line 91: / Line 91: @@
 |
 * Agree on control system architecture
+* Design the mechanical structure of the car
 *<font color="green">Research and study various LCD modules</font>
 *<font color="green">Start Basic Android Application development</font>
@@ Line 102: / Line 103: @@
 | 10/17/2016
 |
+* Build the mechanical structure of the car
 *<font color="blue">Interface servo motor and ESC to the SJone board</font>
 *<font color="CARROT">Interface GPS and Compass sensor to the micrcontroller</font>
@@ Line 112: / Line 114: @@
 *<font color="clouds">Design the barebones basic functionality of the algorithm. Create a skeleton code.</font>
 *<font color="blue">Design software filter to filter CAN messages required for motor controller.</font>
->
 | Completed
 |-
@@ Line 119: / Line 120: @@
 | 10/24/2016
 |
-* Testing week for all nodes. Goal is for each node to have a basic interface to their sensors and actuators in place, where they are able to read data and manipulate control signals. For instance: sensors node should be reading distance, motors node should be able to generate motor speed control signals. Modify the necessary parts in the CAN.dbc file.
+* Making tentative DBC file containing communication messages of the entire system
+* Mounted all boards on the car
 * Interface all nodes over Can bus and coordinate order and status message transfers between Master and Nodes. PCAN interface should be built to view & test CAN messages via Busmaster.
-*<font color="blue">Get readings from the RPM sensor.</font>
+*<font color="clouds">Decide on the CAN ids and the priorities of the CAN messaged for various nodes.</font>
+*<font color="blue">Study and research about motor feedback RPM sensor.</font>
 *<font color="blue">Read the CAN messages to display on the LCD connected to the SJ One board.</font>
 *<font color="clouds">Set up CAN communication between the sensor,motor and the master. Test for correct data transmission.</font>
+| Completed
+|-
+! scope="row"| 7
+| 10/24/2016
+| 10/31/2016
+|
+* Integrate all hardware to the RC car, including power supplies from batteries. Test self powered prototype with the goal of controlling forward, reverse, left and right with start/stop command from the phone app. Test & fix basic integration bugs.
 *<font color="orange">Interface back sensor and test all the sensors together.
 *<font color="orange">Debug and fix any issues.</font>
@@ Line 129: / Line 139: @@
 *<font color="orange">Integrate sensors with other nodes via CAN and test the sensor values while the car is on the move.</font>
 *<font color="orange">The master should have reliable data from sensors by now.</font>
-*<font color="clouds">Decide on the CAN ids and the priorities of the CAN messaged for various nodes.</font>
 *<font color="blue">Send signals to the motor controller from another CAN Node to control speed and steering using CAN interface.</font>
 *<font color="blue">Creating necessary display messages and graphics related to the I/O modules.</font>
 *<font color="clouds">Design the algorithm to process the data received from the sensors and motors by the master.</font>
 *<font color="green">Integrate Google Map, Get Longitude and Latitude data from the position where Marker is placed, Get important data of other nodes from CAN bus.</font>
-|
-|-
-! scope="row"| 7
-| 10/24/2016
-| 10/31/2016
-|
-* Integrate all hardware to the RC car, including power supplies from batteries. Test self powered prototype with the goal of controlling forward, reverse, left and right with start/stop command from the phone app. Test & fix basic integration bugs.
 *<font color="blue">Integrating and testing motor & I/O controller with other nodes.</font>
 *<font color="clouds">Extend the algorithm to control the motors along with the obstacle information received from the sensors.</font>