Difference between revisions of "S19: Automophiles"

Revision as of 16:24, 13 May 2019 (view source) Proj user13 (talk | contribs) (→‎Schedule) ← Older edit		Revision as of 16:35, 13 May 2019 (view source) Proj user13 (talk | contribs) (→‎Schedule) Newer edit →
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	* Research Past Projects.		* Research Past Projects.
	* Setup a Bill of Materials.		* Setup a Bill of Materials.
−	* Order an RC car and charger.	+	* <font color="blue">Order an RC car and charger.</font>
	* Assign responsibilities		* Assign responsibilities
	* Create Splitwise group		* Create Splitwise group
−	* Order HC-06 Bluetooth module	+	* <font color="orange">Order HC-06 Bluetooth module</font>
	* Demo CAN Communication		* Demo CAN Communication
	|		|
Line 118:		Line 118:
	|		|
	* Finish ordering components for additional modules (GPS/compass, Sensors, etc)		* Finish ordering components for additional modules (GPS/compass, Sensors, etc)
−	* Init Android project/begin work & research on UI fragments, Bluetooth, Maps API	+	* <font color="green">Init Android project/begin work & research on UI fragments, Bluetooth, Maps API</font>
	* Make unit-level diagrams of each module		* Make unit-level diagrams of each module
	|		|
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	| 03/19/19		| 03/19/19
	|		|
−	* Interface GPS module to SJOne Board over UART	+	* <font color="purple">Interface GPS module to SJOne Board over UART</font>
		+	* <font color="orange">Initialize bridge with HC-06 and receive bytes from sample Bluetooth app</font>
	* Make high-level block diagram of system		* Make high-level block diagram of system
	* Write sample DBC file for communication of each module		* Write sample DBC file for communication of each module
Line 140:		Line 141:
	| 03/26/19		| 03/26/19
	|		|
−	* Configure ESC for correct speed outcome according to frequency & PWM values.	+	* <font color="blue">Configure ESC for correct speed outcome according to frequency & PWM values.</font>
−	* Develop PWM API based on configuration results.	+	* <font color="blue">Develop PWM API based on configuration results.</font>
−	* Check Laser Sensor response on I2C bus with I2C Master.	+	* <font color="red">Check Laser Sensor response on I2C bus with I2C Master.</font>
	|		|
	Completed		Completed
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	| 04/02/19		| 04/02/19
	|		|
−	* Finalize PCB design/order by end of week	+	* <font color="teal">Finalize PCB design/order by end of week</font>
−	* Set-up Bluetooth API on Android app/transmit to board	+	* <font color="green>"Set-up Bluetooth fragment on Android app/transmit to board</font>
−	* Develop Laser sensor driver API to get singleshot response.	+	* <font color="orange">Verify reception of bytes from Bluetooth application</font>
−	* Interface laser distance sensors and measure sensor values.	+	* <font color="red">Develop Laser sensor driver API to get singleshot response.</font>
		+	* <font color="blue">Develop periodic to exercise all motor functionalities such as turn left, move forward for debug</font>
	|		|
	Completed		Completed

---

Revision as of 16:35, 13 May 2019

Project Title

Automophiles

Abstract

<2-3 sentence abstract>

Introduction

The project was divided into 7 modules:

• Sensor Controller
• Motor Controller
• Master Controller
• Geographical Controller
• Bridge Controller
• Android Application
• PCB/Hardware Integration

Team Members & Responsibilities

<Team Picture>

• Sensor
  • Sagar Jayantkumar Kalathia
  • Sarvpreet Singh
  • Sanjana Devegowdanakoppalu Swamy Gowda

• Motor & LCD
  • Uma Nataraj
  • Sanjana Devegowdanakoppalu Swamy Gowda
  • Alisha Jean Patrao

• Geographical
  • Kevin Gadek
  • Alisha Jean Patrao
  • Nivedita Shiva Murthy

• Bridge
  • Kevin Gadek
  • Uma Nataraj

• Android Application
  • Kevin Gadek
  • Uma Nataraj

• Master
  • Sagar Jayantkumar Kalathia
  • Sarvpreet Singh

• PCB
  • Nivedita Shiva Murthy
  • Sagar Jayantkumar Kalathia

• Integration/Repository Management Team
  • Kevin Gadek

Schedule

Week#	Date	Task	Status	Completion Date
1	02/12/19	Form Teams	Completed	02/12/19
2	02/19/19	Setup a Slack workspace for the team. Setup private channel on Slack workspace	Completed	02/19/19
3	02/26/19	Create a Gitlab project Order 3.3V CAN transcievers Create merge requests for every member Invite Preet and TA to Gitlab project	Completed	02/26/19
4	03/05/19	Research Past Projects. Setup a Bill of Materials. Order an RC car and charger. Assign responsibilities Create Splitwise group Order HC-06 Bluetooth module Demo CAN Communication	Completed	03/11/19
5	03/12/19	Finish ordering components for additional modules (GPS/compass, Sensors, etc) Init Android project/begin work & research on UI fragments, Bluetooth, Maps API Make unit-level diagrams of each module	Completed	03/18/19
6	03/19/19	Interface GPS module to SJOne Board over UART Initialize bridge with HC-06 and receive bytes from sample Bluetooth app Make high-level block diagram of system Write sample DBC file for communication of each module Establish Communication of every module on CAN bus showing on BUS Master	Completed	03/25/19
7	03/26/19	Configure ESC for correct speed outcome according to frequency & PWM values. Develop PWM API based on configuration results. Check Laser Sensor response on I2C bus with I2C Master.	Completed	04/01/19
8	04/02/19	Finalize PCB design/order by end of week "Set-up Bluetooth fragment on Android app/transmit to board Verify reception of bytes from Bluetooth application Develop Laser sensor driver API to get singleshot response. Develop periodic to exercise all motor functionalities such as turn left, move forward for debug	Completed	04/08/19
9	04/09/19	Interface GPS and receive correct GPRMC sentences Hookup Motor Controller with CAN bus and successfully receive messages from Master Hookup Bridge Controller with CAN bus to Master and successfully control RC Car	Completed	04/15/19
10	04/16/19	Build obstacle avoidance logic in Master logic and do hallway testing Configure Busmaster with converted DBC file and display working sensor values Write module-level unit tests Add MIA management to each module Finalize overall UI of Android app	Completed	04/22/19
11	04/23/19	Mount RPM sensor on DC motor and do ramp testing Streamline and verify obstacle avoidance on uphill and downhill ramp tests Mount compass on RC car and transmit calibrated heading on CAN bus Mount GPS with external antenna on RC car and transmit GPS fix and current coords	Completed	04/29/19
12	04/30/19	Add dozens of useful debug messages and transmit on CAN Configure Busmaster to display signal graphs of RPM/sensor values Add debug popup menu on Android app to display sensor and GPS values Test and validate obstacle avoidance in outside environments	Completed	05/06/19
13	05/07/19	Add target heading and distance calculation logic to GPS module Display GPS target heading and distance in Android debug menu Add a physical on/off switch to RC car setup Add start/stop logic to master state machine depending on bridge input Interface and display RPM value/motor cmd on LCD display Receive PCB	Completed	05/07/19
14	05/14/19	Add checkpoint logic to GPS module given predefined routes Replace current setup with PCB interface Perform outside testing on predefined routes Finalize wiki report	In Progress
15	05/22/19	Final Demo

Parts List & Cost

Item#	Part Desciption	Vendor	Qty	Cost
1	RC Car	Traxxas	1	$240.00
2	RC Car Charger Wall Adapter	Traxxas	1	$25.00
3	CAN Transceiver PCB Board	Waveshare	7	$48.03
4	HC-06 Bluetooth Module	eBay	1	$10.51
5	PCB	Bay Area Circuits	2	$250

Printed Circuit Board

<Picture and information, including links to your PCB>

CAN Communication

<Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.>

Hardware Design

<Show your CAN bus hardware design>

DBC File

VERSION ""

NS_ :

BS_:

BU_: MASTER GPS BRIDGE MOTOR SENSOR

BO_ 100 MOTOR_CMD: 3 MASTER 
 SG_ STEER_CMD_enum : 0|8@1+ (1,0) [0|0] "" MOTOR
 SG_ SPEED_CMD : 8|8@1+ (0.1,0) [0|0] "m/sec" MOTOR
 SG_ MASTER_INIT_DEBUG : 16|1@1+ (1,0) [0|0] "" MOTOR
 SG_ MASTER_SEND_LEFT : 17|1@1+ (1,0) [0|0] "" MOTOR
 SG_ MASTER_SEND_STRAIGHT : 18|1@1+ (1,0) [0|0] "" MOTOR
 SG_ MASTER_SEND_RIGHT : 19|1@1+ (1,0) [0|0] "" MOTOR
   
BO_ 105 RPM_VALUE_CMD: 4 MOTOR 
 SG_ RPM_VALUE : 0|8@1+ (1,0) [0|0] "" BRIDGE,MASTER
 SG_ CAN_INIT_MSG : 8|8@1+ (1,0) [0|0] "" BRIDGE,MASTER
 SG_ RECEIVED_STEER_CMD : 16|8@1+ (1,0) [0|0] "" BRIDGE,MASTER
 SG_ MOTOR_HEARTBEAT : 24|1@1+ (1,0) [0|0] "" BRIDGE,MASTER
 
BO_ 110 COMPASS_CMD: 4 GPS
 SG_ HEADING : 0|32@1+ (0.1,0) [0|0] "" BRIDGE,MASTER
 
BO_ 115 COMPASS_INIT_DEBUG: 1 GPS
 SG_ INIT_DEBUG : 0|1@1+ (1,0) [0|0] "" MASTER
 
BO_ 120 GPS_CURRENT_LAT_LONG: 8 GPS
 SG_ CUR_LAT : 0|32@1+ (0.000001,0.000000) [36.000000|38.000000] "degrees" BRIDGE,MASTER
 SG_ CUR_LONG : 32|32@1+ (0.000001,-123.000000) [-123.000000|-120.000000] "degrees" BRIDGE,MASTER
 
BO_ 125 GPS_INIT_DEBUG: 1 GPS
 SG_ INIT_DEBUG : 0|1@1+ (1,0) [0|0] "" MASTER
 
BO_ 130 GPS_FIX_DEBUG: 1 GPS
 SG_ GPS_FIX_DEBUG : 0|1@1+ (1,0) [0|0] "" MASTER
 
BO_ 135 COMPASS_MAN_CAL_DEBUG: 1 GPS
 SG_ IS_CAL_DEBUG : 0|1@1+ (1,0) [0|0] "" MASTER

BO_ 140 GPS_HEARTBEAT: 1 GPS
 SG_ GPS_HEARTBEAT : 0|1@1+ (1,0) [0|0] "" MASTER
 
BO_ 145 GPS_TARGET_HEADING: 8 GPS
 SG_ TARGET_HEADING : 0|32@1+ (0.1,0) [0.00|360.00] "degrees" BRIDGE,MASTER
 SG_ DISTANCE : 32|32@1+ (0.1,0) [0|0] "meters" BRIDGE,MASTER

BO_ 200 SENSOR_STATUS: 7 SENSOR
 SG_ SENSOR_FRONT : 0|16@1+ (1,0) [0|0] "milimeters" BRIDGE,MASTER
 SG_ SENSOR_LEFT : 16|16@1+ (1,0) [0|0] "milimeters" BRIDGE,MASTER
 SG_ SENSOR_RIGHT : 32|16@1+ (1,0) [0|0] "milimeters" BRIDGE,MASTER
 SG_ SENSOR_LEFT_BLOCKED : 48|1@1+ (1,0) [0|0] "" BRIDGE,MASTER
 SG_ SENSOR_CENTER_BLOCKED : 49|1@1+ (1,0) [0|0] "" BRIDGE,MASTER
 SG_ SENSOR_RIGHT_BLOCKED : 50|1@1+ (1,0) [0|0] "" BRIDGE,MASTER 
 SG_ SENSORS_HEARTBEAT : 51|1@1+ (1,0) [0|0] "" BRIDGE,MASTER
  
BO_ 300 BRIDGE_STOP: 1 BRIDGE
 SG_ BRIDGE_STOP : 0|1@1+ (1,0) [0|0] "" MASTER
 
BO_ 310 BRIDGE_GO: 1 BRIDGE
 SG_ BRIDGE_GO : 0|1@1+ (1,0) [0|0] "" MASTER
 
BO_ 315 BRIDGE_INIT_DEBUG: 1 BRIDGE
 SG_ INIT_DEBUG : 0|1@1+ (1,0) [0|0] "" MASTER

BO_ 320 BRIDGE_HEARTBEAT: 1 BRIDGE
 SG_ BRIDGE_HEARTBEAT : 0|1@1+ (1,0) [0|0] "" MASTER
 
BO_ 325 BRIDGE_DEST: 8 BRIDGE
 SG_ DEST_LAT : 0|32@1+ (0.000001,0) [36.000000|38.000000] "degrees" GPS
 SG_ DEST_LNG : 32|32@1+ (0.000001,-123) [-123.000000|-120.000000] "degrees" GPS
 

CM_ BU_ MASTER "The master controller driving the RC car";
CM_ BU_ SENSOR "The obstacle avoidance sensor module";
CM_ BU_ MOTOR "The motor module driving the car";
CM_ BU_ GPS "The GPS module";
CM_ BU_ BRIDGE "The main communications module between car and app";

BA_DEF_ SG_ "FieldType" STRING ;

BA_DEF_DEF_ "FieldType" "";

BA_ "FieldType" SG_ 100 STEER_CMD_enum "STEER_CMD_enum";
 
VAL_ 100 STEER_CMD_enum 2 "steer_straight" 1 "slight_left" 3 "slight_right" 0 "stop" 6 "steer_right" 4 "steer_left" 8 "reverse" 7 "left_reverse" 9 "right_reverse";

Sensor ECU

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Unreliable sonor sensors

<Problem Summary> <Problem Resolution>

---

Motor ECU

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Unreliable Servo Motors

<Problem Summary> <Problem Resolution>

---

Geographical Controller

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Unreliable GPS lock

<Problem Summary> <Problem Resolution>

---

Communication Bridge Controller & LCD

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Insane Bug

<Problem Summary> <Problem Resolution>

---

Master Module

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Improper Unit Testing

<Problem Summary> <Problem Resolution>

---

Mobile Application

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Wifi Link Reliability

<Problem Summary> <Problem Resolution>

---

Conclusion

<Organized summary of the project>

<What did you learn?>

Project Video

Project Source Code

Advise for Future Students

<Bullet points and discussion>

Acknowledgement

References