Difference between revisions of "S20: Nimble"

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(→‎Team Members & Responsibilities)
(→‎Team Deliverables Schedule)
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|-
 
|-
 
| '''1''' || ''' Feb 2020''' || '''4 March 2020''' ||  
 
| '''1''' || ''' Feb 2020''' || '''4 March 2020''' ||  
−
 
 
*<font color="#808080">'''Create and establish GitLab repository'''</font>
 
*<font color="#808080">'''Create and establish GitLab repository'''</font>
 
*<font color="#808080">'''Establish slack channel and invite Preet'''</font>
 
*<font color="#808080">'''Establish slack channel and invite Preet'''</font>
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*<font color="#808080">'''Environmental setup of Android ( )'''</font>
 
*<font color="#808080">'''Environmental setup of Android ( )'''</font>
 
*<font color="red">''' 3/17/2020 -> Project Lab - RC Car Infrastructure  '''</font>
 
*<font color="red">''' 3/17/2020 -> Project Lab - RC Car Infrastructure  '''</font>
−
|| Completed <br> Not Started Yet <br> Completed <br> In Progress <br> In Progress <br>In Progress <br> Completed <br>  
+
|| Completed <br> Completed <br> Completed <br> In Progress <br> In Progress <br>In Progress <br> Completed <br>  
 
|-
 
|-
 
| '''4''' || '''20 March 2020'''|| '''26 March 2020'''||
 
| '''4''' || '''20 March 2020'''|| '''26 March 2020'''||
−
*<font color="purple">'''Understand DBC and implement the DBC file compatible with all the controllers.'''</font>
+
*<font color="purple">'''Understand DBC and implement the DBC file compatible with all the controllers. (Updating the DBC files from all nodes)'''</font>
−
*<font color="green">'''Test motor driving in different situations, begin to listen to CAN for controls.'''</font>
+
*<font color="green">''' Finish purchasing the Sensor (Tanmay)'''</font>
 
*<font color="purple">'''Establish communication across all the CAN controllers over CAN bus based on the DBC file.'''</font>
 
*<font color="purple">'''Establish communication across all the CAN controllers over CAN bus based on the DBC file.'''</font>
 
*<font color="#148F77">'''Verify the power-up interactions and configurations between Master and the other controllers.'''</font>
 
*<font color="#148F77">'''Verify the power-up interactions and configurations between Master and the other controllers.'''</font>
−
*<font color="purple">'''03/26/2020 DBC File'''</font>
+
*<font color="brown">'''Establish a connection over Bluetooth and Android app.(Naeem) '''</font>
−
*<font color="purple">'''03/26/2020 DEMO: CAN communication between controllers.'''</font>
+
*<font color="red">''' 3/24/2020 -> Project Lab - GPS & Compass Node  '''</font>
−
|| <br>  In Progress <br> Not Started Yet <br> Not Started Yet <br> Not Started Yet <br> Not Started Yet <br>Not Started Yet <br>  
+
*<font color="red">''' 3/24/2020 -> Anonymous Reviews  '''</font>
 +
|| In Progress <br> Completed <br> In Progress <br> In Progress <br> Completed  <br> Completed  <br> Completed  <br>  
 
|-
 
|-
 
| '''5''' || '''27 March 2019'''|| '''09 April 2019'''||
 
| '''5''' || '''27 March 2019'''|| '''09 April 2019'''||
 +
*<font color="red">'''3/24/2020 -> Finish deciding the Pins that will be used in each nodes. '''</font>
 +
*<font color="red">'''3/30/2020 -> Completed the rough draft of block digram and Flow chart for each node logics. '''</font>
 +
*<font color="red">'''4/04/2020 -> Completed the Circuit designs for the PCB. '''</font>
 +
*<font color="red">'''4/04/2020 -> Finalized the components for PCB. '''</font>
 
* // Temporary schedule below  
 
* // Temporary schedule below  
−
*<font color="#148F77">'''Check and Resolve power issue for RC Car.'''</font>
 
−
*<font color="#148F77">'''Finalize high-level system block diagram and control scheme.'''</font>
 
−
*<font color="#148F77">'''Circuit Simulation in Diptrace Tool.'''</font>
 
−
*<font color="#148F77">'''PCB Layout Design in Diptrace Tool.'''</font>
 
−
*<font color="#148F77">'''Finalize Components placement on PCB.'''</font>
 
−
*<font color="brown">'''Establish a connection over Bluetooth and Android app.'''</font>
 
 
*<font color="brown">'''Establish a communication between Bluetooth devices.'''</font>
 
*<font color="brown">'''Establish a communication between Bluetooth devices.'''</font>
 
*<font color="FUCHSIA">'''Interfacing of ultrasonic sensors to the SJOne board and check for basic functionality.'''</font>
 
*<font color="FUCHSIA">'''Interfacing of ultrasonic sensors to the SJOne board and check for basic functionality.'''</font>
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|-
 
|-
 
| '''11''' || '''22 May 2020'''||  ||  
 
| '''11''' || '''22 May 2020'''||  ||  
−
*<font color="black">'''DEMO: Final Project '''</font>
+
*<font color="red">'''DEMO: Final Project '''</font>
−
*<font color="black">'''SUBMISSION: Final Project Wiki'''</font>
+
*<font color="red">'''SUBMISSION: Final Project Wiki'''</font>
 
|| <br>  <br>
 
|| <br>  <br>
 
|}
 
|}

Revision as of 03:13, 25 March 2020

Project Title

<Nimble>


Abstract

<2-3 sentence abstract>

Introduction

The project was divided into N modules:

  • Sensor ...
  • Motor..
  • ...
  • Android

Team Members & Responsibilities

<Team Picture>

  • [ Yuming Cheng]
    • GPS Module
    • Master Module
    • Motor Module
  • [ Ellis Makwana]
    • Sensor Module
    • Master Module
  • [ Naeem Mannan]
    • Master Module
    • Mobile Application
  • [ Francesco Vescio]
    • Sensor Module
    • Master Module
  • [ Lawrence Wan]
    • Master Module
    • GPS Module
    • Motor Controller


  • Sensor
    • Link to Gitlab user1
    • Link to Gitlab user2
  • Motor
    • Link to Gitlab user1
    • Link to Gitlab user2
  • Geographical
    • Link to Gitlab user1
    • Link to Gitlab user2
  • Communication Bridge Controller & LCD
    • Link to Gitlab user1
    • Link to Gitlab user2
  • Android Application
    • Link to Gitlab user1
    • Link to Gitlab user2
  • Testing Team
    • Link to Gitlab user1
    • Link to Gitlab user2


Team Deliverables Schedule

WEEK

START DATE

END DATE

TASK DETAILS

STATUS

1 Feb 2020 4 March 2020
  • Create and establish GitLab repository
  • Establish slack channel and invite Preet
  • Look through previous years projects and study it
  • Distribute major roles among team members
 Completed
Completed
Completed
Completed
2 05 March 2020 12 March 2020
  • Create a Bill of Materials.
  • Select and order an RC car.
  • Make Repo on Gitlab for all modules - Follow Naming Convention.
  • Making the Wiki schedule.
 In Progress
Completed
In Progress
In Progress
3 13 March 2020 19 March 2020
  • Select Part Number for Sensors (Tanmay, Ellis)
  • Designing and deciding PCB tool(Lawrence)
  • Finalizing GPS module by doing some research (Yuming)
  • Finalize and order LCD ()
  • Finalize Motor and Order it (Lawrence , Yuming )
  • Environmental setup of Android ( )
  • 3/17/2020 -> Project Lab - RC Car Infrastructure
Completed
Completed
Completed
In Progress
In Progress
In Progress
Completed
4 20 March 2020 26 March 2020
  • Understand DBC and implement the DBC file compatible with all the controllers. (Updating the DBC files from all nodes)
  • Finish purchasing the Sensor (Tanmay)
  • Establish communication across all the CAN controllers over CAN bus based on the DBC file.
  • Verify the power-up interactions and configurations between Master and the other controllers.
  • Establish a connection over Bluetooth and Android app.(Naeem)
  • 3/24/2020 -> Project Lab - GPS & Compass Node
  • 3/24/2020 -> Anonymous Reviews
In Progress
Completed
In Progress
In Progress
Completed
Completed
Completed
5 27 March 2019 09 April 2019
  • 3/24/2020 -> Finish deciding the Pins that will be used in each nodes.
  • 3/30/2020 -> Completed the rough draft of block digram and Flow chart for each node logics.
  • 4/04/2020 -> Completed the Circuit designs for the PCB.
  • 4/04/2020 -> Finalized the components for PCB.
  • // Temporary schedule below
  • Establish a communication between Bluetooth devices.
  • Interfacing of ultrasonic sensors to the SJOne board and check for basic functionality.
  • Interface and get the reading of Lidar sensor with SJOne over UART.
  • Chalk out the Message IDs based on the priority of the messages and the data to be sent across nodes.
  • Interface of Servo & DC motor to the SJOne board and check for basic functionality.
  • Interface Compass module with SJOne board using I2C serial bus.
  • Interface bluetooth HC-05 module with SJOne board using serial Communication.
  • Configure bluetooth HC-05 module name as Tech Savy using HC-05 Communication Mode.
  • Explore UI designing of LCD.
  • Finish motor controller API. Test motor driving in different situations, begin to listen to CAN for controls.
  • Add a TextView for displaying the Bluetooth connection status in Android App.
 Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
Not Started Yet
6 10 April 2020 16 April 2020
  • Parse data of Lidar Sensor depending on distance and angle and send it to master using dbc.
  • Implement basic obstacle avoidance algorithm based on sensor data and test the same.
  • Continue testing motor driver via commands from CAN bus.
  • Build in speed steps to reverse motor for reverse to work correctly.
  • Mount all the sensors and test for any dead band and modify their positions for maximum coverage.
  • Integrate the fusion of LIDAR and Ultrasound sensor to get overall feedback from all the directions.
  • Develop algorithm to avoid obstacles and plan the car's further navigation path.
  • Complete final prototype of the obstacle avoidance feature.
  • Calibrate Compass Module. Develop code for Compass module communication over CAN.
  • 16 April 2019 DEMO: Motors driven by wheel feedback and sensors, Basic obstacle avoidance.
  • Final Wiki Schedule.










7 17 April 2020 23 April 2020
  • Configure GPS device baud rate and interface it with SJOne board using UART.
  • Send and receive current location, destination and checkpoint coordinates to and from App and Geo module via BRIDGE.
  • Calibrate sensors readings and work on filtering algorithm with Master & Sensor
  • Begin work on LCD to show vehicle live status(speed, fuel-status, obstacles, distance to destination etc.) in a GUI.
  • Finish implementing speed control on motor (to make sure requested speed is met based on RPM read).
  • Work on Car reversing using Motor Controllers.
  • Integrate all modules with the Master to test the data flow.
  • Validation & Verification of obstacle avoidance, steering logic with rear sensor inputs and reversing.
  • Start incorporating GEO Controller information to Master module Steering logic.
  • Decide, implement and test data exchange between Geo Controller and BRIDGE.
  • Calculate and send simple bearing angle and destination status on CAN to figure out initial challenges.
  • Add a Google Map for setting the car's destination.
  • Send car location to app and check points received to Geo module.
  • Verify the stringent requirement of Start-up Sync, Periodic heart-beat messages.
  • Update Wiki Schedule with Test Reports.














8 24 April 2020 30 April 2020
  • Testing & Validation of the LCD UI and display run time vehicle status and looking forward for feedback from team if any.
  • Improve & Validate Navigation logic with multiple checkpoints, bearing angle and destination information.
  • Identify and mitigate GPS locking, Location Accuracy and Number of Satellite-In-View coming.
  • Validate Accuracy of Compass Calibration with iPhone Compass.
  • Determine and add DBC Changes and finalized.
  • Implement the steering logic with bearing angle and status provided by GEO-Module.
  • Consistently Communicate current car location to App, get check points from App and relay them to Geo module.
  • Send additional vehicle status information from can bus to the App for display.
  • Send the request to Google for getting the checkpoints(use the Google Maps Directions API).
  • Field test and check for obvious issues in obstacle avoidance, navigation, maintaining speed (up/down hill).
  • Provide feed backs to each team on identified short comings.
  • Update Wiki with new details and information.
  • DEMO: GPS driving












9 1 May 2020 7 May 2020
  • FIELD TESTING - CRITICAL WEEK
  • Implement turning indicators, break lights and head light.
  • Check for Corner cases for steering logic under various conditions and locations.
  • Analyse field test results for GPS and CMPS and work on it if required.
  • Test the accuracy of check-points from the Blue-tooth controller, location data from the Geo-controller sensor and Navigation Algorithm.
  • Check overall robustness of the complete system.
  • Establish complete connection on PCB
  • Update wiki with details.






10 8 May 2020 21 May 2020
  • All hands on testing and final bug fixes.
  • Check for tuning or calibration of modules if required.
  • Complete end-to-end testing for various scenarios and conditions.
  • Create the semester long project activity video and upload to YouTube.
  • Update and finalize wiki.




11 22 May 2020
  • DEMO: Final Project
  • SUBMISSION: Final Project Wiki

Parts List & Cost

Item# Part Desciption Vendor Qty Cost
1 RC Car Traxxas - Amazon [1] 1 $168.84
2 CAN Transceivers MCP2551-I/P Robotshop [2] 6 $ 6.00 per unit including shipping fee
3 GPS Amazon [] 1 $ .00 per unit including shipping fee
4 Compass Amazon [] 1 $ .00 per unit including shipping fee


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

<Gitlab link to your DBC file> <You can optionally use an inline image>



Sensor ECU

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>


Motor ECU

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>


Geographical Controller

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>



Communication Bridge Controller & LCD

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>


Master Module

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>


Mobile Application

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>




Conclusion

<Organized summary of the project>

<What did you learn?>

Project Video

Project Source Code

Gitlab Project Link - [3]

Advise for Future Students

<Bullet points and discussion>

Acknowledgement

References

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