Difference between revisions of "S21: UTAH"

Revision as of 06:10, 18 May 2021 (view source) Proj user13 (talk | contribs) (→‎DC Motor and ESC) ← Older edit		Revision as of 06:10, 18 May 2021 (view source) Proj user13 (talk | contribs) (→‎DC Motor and ESC) Newer edit →
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	The car can be operated at 100Hz in the following 3 modes :		The car can be operated at 100Hz in the following 3 modes :
		+	<br/>
	Sport Mode (100% Forward, 100% Brakes, 100% Reverse)		Sport Mode (100% Forward, 100% Brakes, 100% Reverse)
	<br/>		<br/>

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Revision as of 06:10, 18 May 2021

UTAH: Unit Tested to Avoid Hazards

Abstract

UTAH abstract

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

• Akash Vachhani Gitlab
  • Leader
  • Geographical Controller

• Jonathan Beard Gitlab
  • Android Application Developer
  • Communication Bridge Controller

• Ameer Ali
  • Master Controller

• Jonathan Tran Gitlab
  • Sensors Controller

• Amritpal Sidhu
  • Motor Controller

• Shreevats Gadhikar Gitlab'
  • Motor Controller

Schedule

Legend

Description	Color
Administrative	Black
Sensor	Cyan
Bluetooth & App	Blue
GEO	Red
Motor	Magenta
Main	Orange

Week#	Start Date	End Date	Task	Status
1	02/15/2021	02/21/2021	Read previous projects to understand what is expected and have some meaningful knowledge by first meeting. Assign roles.	Completed
2	02/22/2021 02/22/2021	02/28/2021 02/28/2021	Acquire parts: Canbus modules, GPS module, Ultrasonic module, Bluetooth module, Car frame, and LCD display Conduct meeting: Discuss GitLab layout and expectation of each assigned role	Completed Completed
3	03/01/2021 03/01/2021 03/01/2021 03/01/2021 03/01/2021 03/01/2021 03/01/2021	03/07/2021 03/07/2021 03/07/2021 03/07/2021 03/07/2021 03/07/2021 03/07/2021	Purchased RC car and batteries. Research and finalize which ultrasonic sensor the project will use. Purchased Bluetooth connector Research math needed to determine distance between navigation points. Decide on distance algorithm Research multiple navigation point algorithm(Djikstra's) to determine shortest path. Create branch for motor controller driver. Create draft template API for motor controller. Using previous projects, determine what works needs to be completed for main board. Bring findings to weekly meeting	Completed Completed Completed Completed Completed Completed Completed
4	03/08/2021 03/08/2021 03/08/2021	03/14/2021 03/14/2021 03/14/2021	Research connection with Bluetooth from board to application. Decide between bluetooth connection or wifi connection by this day Work on implementation of multiple navigation point algorithm to determine shortest path Plan motor controller API and create basic software flow of API	incomplete Incomplete Complete
5	03/15/2021 03/15/2021 03/15/2021 03/15/2021 03/15/2021	03/21/2021 03/21/2021 03/21/2021 03/21/2021 03/21/2021	Begin laying out hardware requirements for PCB on excel document. Include voltage and pinout requirements in excel document Finish research on application building with android studio. Install android studio and necessary dependencies Implement a simple application with a button and text Unit Test Direction Distance Calculation Module. Manual calculation of data should match module output Begin coding and digesting adafruit Compass data. Print Compass data.	Incomplete Complete Complete Complete Complete
6	03/22/2021 03/22/2021 03/22/2021 03/22/2021 03/22/2021 03/22/2021 03/22/2021 03/22/2021	03/28/2021 03/28/2021 03/28/2021 03/28/2021 03/28/2021 03/28/2021 03/28/2021 03/28/2021	Acquire sensor and interface sensors to SJ2 Board and receive raw data Implement basic communication between board and app Update Wiki with proper software diagrams for GPS and Compass data flow Begin Mapping out pins used on all board Complete a block diagram and a control scheme Top Level Driver Logic diagram Periodic Callback Functions Diagram Create a basic Obstacle avoidance algorithm for Driver Probe RC car to determine expected behavior of signals and install RPM sensor Write motor controller modules and tests	Complete In progress In progress In Progress In Progress Complete In Progress Complete Complete Complete
7	03/29/2021 03/29/2021 03/29/2021 03/29/2021 03/29/2021	04/04/2021 04/04/2021 04/04/2021 04/04/2021 04/04/2021	Discuss and construct DBC file Create sensor API to parse raw data and convert into inches Integrate google map features into app Integration testing of motor controller logic Create a Checkpoint Navigation algorithm for Driver	Complete In progress Incomplete Incomplete Complete
8	04/05/2021 04/05/2021 04/05/2021 04/05/2021	04/11/2021 04/11/2021 04/11/2021 04/11/2021	Finish implementation of canbus between controllers and begin real world testing 3D print sensor mounts, sensor guards, and draft sensor offset timing to deter sensor cross talk Finish integrating wheel encoder and display speed on SJTwo Telemetry Establish Communication between the LCD display and Master Board over I2C	In progress Incomplete Complete In Progress
9	04/12/2021 04/12/2021 04/12/2021 04/12/2021 04/12/2021	04/18/2021 04/18/2021 04/18/2021 04/18/2021 04/18/2021	Integrate Driver, Geo, Bridge sensor, and Motor nodes. Successful communication between all boards. Analyze noise in sensor values and design a filter to mitigate the noise Complete "Self Test" for motor test(DC motor moves forward and backwards and servo moves right - left) Start working on PID control algorithm. Design bare skeleton for workflow Create an algorithm to account for speed when the car is on an incline	In progress Incomplete Complete Complete In progress
10	04/19/2021 04/19/2021 04/19/2021 04/19/2021 04/19/2021 04/19/2021 04/19/2021	05/25/2021 05/25/2021 05/25/2021 05/25/2021 04/25/2021 04/25/2021 04/25/2021	Begin to analysis real world tests from previous weeks implementation and perform fixes for issues faced Ensure Canbus nodes are communicating correctly by verifying PCON data. Verify that timing for data is correct Added CAN debug messages Start working on the PCB, order the PCB and also purchase the required components Integration testing with obstacle avoidance. Analyze possible blind spots and make adjustments to sensor placements. Analyze sensor response time and data while rc car is moving and make adjustments if needed. Display relevant Motor and Checkpoint Information to the LCD. Tuned and tested PID on RC Car (More refinement needed)	Incomplete Incomplete Complete Complete Incomplete Incomplete Incomplete Incomplete Complete
11	04/26/2021 04/26/2021 04/26/2021	05/02/2021 05/02/2021 05/02/2021	Perform more real world tests and isolate bugs. Update issues for bugs find during real world test Perform final bug fixes, as listed under issues, for all Canbus nodes. Integrate all the parts on the PCB.	Incomplete Incomplete Complete
12	05/03/2021 05/03/2021 05/03/2021 05/03/2021 05/03/2021	05/09/2021 05/09/2021 05/09/2021 05/09/2021 05/09/2021	Update Wiki Report to reflect all changes and include final testing video Perform final code changes and commit to master branch Received manufactured PCB, installed, and integration tested Refactored motor controller code and wrote much needed unit tests Finished tuning PID and tested RC Car driving on slope	Incomplete Incomplete Complete Complete Complete
13	05/10/2021 05/10/2021	05/16/2021 05/16/2021	Update Wiki Schedule and Report	In Progress Incomplete
14	05/17/2021 05/17/2021	05/23/2021 05/23/2021		Incomplete Incomplete

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Parts List & Cost

Item#	Part Description	Vendor	Qty	Cost
1	Traxxas 1/10 Scale RC Short Truck	Traxxas [1]	1	$239.99 + Tax
2	RPM Sensor & Mount	Traxxas [2]	1	$19.00 + Tax
3	2S 7.4V 5000mAh LiPo Battery Pack	Amazon [3]	2	$40.69 + Tax
4	Bluetooth Adapter	Amazon [4]	1	$8.99 + Tax
5	Adafruit Ultimate GPS Breakout	Adafruit [5]	1	$39.95
6	Adafruit Triple-axis Accelerometer+Magnetometer	Adafruit [6]	1	$14.95
7	Deans Connector	Amazon [7]	1	$8.99 + Tax
8	Pololu 5V Voltage Regulator	Pololu [8]	1	$10.83
9	PCB	JLCPCB [9]	1	$40.00

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Printed Circuit Board

<Picture and information, including links to your PCB>

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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

DBC File Link

VERSION ""

NS_ :
	BA_
	BA_DEF_
	BA_DEF_DEF_
	BA_DEF_DEF_REL_
	BA_DEF_REL_
	BA_DEF_SGTYPE_
	BA_REL_
	BA_SGTYPE_
	BO_TX_BU_
	BU_BO_REL_
	BU_EV_REL_
	BU_SG_REL_
	CAT_
	CAT_DEF_
	CM_
	ENVVAR_DATA_
	EV_DATA_
	FILTER
	NS_DESC_
	SGTYPE_
	SGTYPE_VAL_
	SG_MUL_VAL_
	SIGTYPE_VALTYPE_
	SIG_GROUP_
	SIG_TYPE_REF_
	SIG_VALTYPE_
	VAL_
	VAL_TABLE_

BS_:

BU_: DBG DRIVER IO MOTOR SENSOR GEO


BO_ 100 BRIDGE_APP_COMMANDS: 1 SENSOR
 SG_ APP_COMMAND : 0|2@1+ (1,0) [0|0] "" GEO,DRIVER
 
BO_ 101 MOTOR_CHANGE_SPEED_AND_ANGLE_MSG: 2 DRIVER
 SG_ DC_MOTOR_DRIVE_SPEED_sig : 0|8@1+ (0.1,-10) [-10|10] "kph" MOTOR
 SG_ SERVO_STEER_ANGLE_sig : 8|8@1+ (1,-45) [-45|45] "degrees" MOTOR

BO_ 102 SENSOR_SONARS_ROUTINE: 5 SENSOR
 SG_ SENSOR_SONARS_left : 0|10@1+ (1,0) [0|0] "inch" DRIVER
 SG_ SENSOR_SONARS_right : 10|10@1+ (1,0) [0|0] "inch" DRIVER
 SG_ SENSOR_SONARS_middle : 20|10@1+ (1,0) [0|0] "inch" DRIVER
 SG_ SENSOR_SONARS_rear : 30|10@1+ (1,0) [0|0] "inch" DRIVER

BO_ 300 GPS_DESTINATION_LOCATION: 8 SENSOR
 SG_ DEST_LATITUDE : 0|32@1+ (0.000001,-90.000000) [-90|90] "Degrees" GEO
 SG_ DEST_LONGITUDE : 32|32@1+ (0.000001,-180.000000) [-180|180] "Degrees" GEO

BO_ 301 COMPASS_HEADING_DISTANCE: 6 GEO
 SG_ CURRENT_HEADING : 0|12@1+ (0.1,0) [0|359.9] "Degrees" DRIVER,SENSOR
 SG_ DESTINATION_HEADING: 12|12@1+ (0.1,0) [0|359.9] "Degrees" DRIVER,SENSOR
 SG_ DISTANCE : 24|17@1+ (0.01,0) [0|0] "Meters" DRIVER,SENSOR

BO_ 501 GPS_CURRENT_INFO: 8 GEO
 SG_ GPS_CURRENT_LAT : 0|32@1+ (0.000001,-90.000000) [-90|90] "degrees" DRIVER,SENSOR,MOTOR
 SG_ GPS_CURRENT_LONG : 32|32@1+ (0.000001,-180.000000) [-180|180] "degrees" DRIVER,SENSOR,MOTOR

BO_ 502 GPS_COMPASS_STATUS : 1 GEO
 SG_ COMPASS_LOCK_VALID: 0|1@1+ (1,0) [0|0] "TRUE_FALSE" DRIVER, SENSOR
 SG_ GPS_LOCK_VALID : 1|1@1+ (1,0) [0|0] "TRUE_FALSE" DRIVER,SENSOR,MOTOR

BO_ 503 GPS_CURRENT_DESTINATIONS_DATA: 8 GEO
 SG_ CURRENT_DEST_LATITUDE : 0|32@1+ (0.000001,-90.000000) [-90|90] "Degrees" DRIVER
 SG_ CURRENT_DEST_LONGITUDE : 32|32@1+ (0.000001,-180.000000) [-180|180] "Degrees" DRIVER

BO_ 504 RC_CAR_SPEED_READ_MSG: 2 MOTOR
  SG_ RC_CAR_SPEED_sig : 0|8@1+ (0.1,-10) [-10|10] "kph" DRIVER,SENSOR

BO_ 750 DBG_RAW_COMPASS_DATA: 4 GEO
  SG_ SIGNED_REGISTER_VAL_MAG_X : 0|16@1+ (1.0,0) [-2048|2047] "GAUSSIAN" DRIVER,SENSOR
  SG_ SIGNED_REGISTER_VAL_MAG_Y : 16|16@1+ (1.0,0) [-2048|2047] "GAUSSIAN" DRIVER,SENSOR

BO_ 751 DBG_CONFIRM_RECEIVED_DESTINATION: 8 GEO
 SG_ RECEIVED_DEST_LATITUDE : 0|32@1+ (0.000001,-90.000000) [-90|90] "Degrees" SENSOR
 SG_ RECEIVED_DEST_LONGITUDE : 32|32@1+ (0.000001,-180.000000) [-180|180] "Degrees" SENSOR

BO_ 775 DBG_GPS_COMPASS_LOCK_LED_CHECK: 1 GEO
 SG_ COMPASS_LED_STATUS: 0|1@1+ (1,0) [0|0] "TRUE_FALSE" DRIVER, SENSOR, MOTOR
 SG_ GPS_LED_STATUS : 1|1@1+ (1,0) [0|0] "TRUE_FALSE" DRIVER, SENSOR, MOTOR

BO_ 780 DBG_GEO_CAN_STATUS: 3 GEO
 SG_ DBG_CAN_INIT_STATUS: 0|1@1+ (1,0) [0|0] "TRUE_FALSE" DRIVER, SENSOR, MOTOR
 SG_ DBG_CAN_RX_DROP_COUNT : 1|16@1+ (1,0) [0|0] "TRUE_FALSE" DRIVER,SENSOR,MOTOR

BO_ 781 DBG_SENSOR_CAN_STATUS: 3 SENSOR
 SG_ DBG_CAN_INIT_STATUS: 0|1@1+ (1,0) [0|0] "TRUE_FALSE" DRIVER, GEO, MOTOR
 SG_ DBG_CAN_RX_DROP_COUNT : 1|16@1+ (1,0) [0|0] "drops" DRIVER,GEO,MOTOR

BO_ 782 DBG_MOTOR_CAN_STATUS: 3 MOTOR
 SG_ DBG_CAN_INIT_STATUS: 0|1@1+ (1,0) [0|0] "TRUE_FALSE" DRIVER, SENSOR, GEO
 SG_ DBG_CAN_RX_DROP_COUNT : 1|16@1+ (1,0) [0|0] "TRUE_FALSE" DRIVER,SENSOR,GEO

BO_ 783 DBG_DRIVER_CAN_STATUS: 3 DRIVER
 SG_ DBG_CAN_INIT_STATUS: 0|1@1+ (1,0) [0|0] "TRUE_FALSE" GEO, SENSOR, MOTOR
 SG_ DBG_CAN_RX_DROP_COUNT : 1|16@1+ (1,0) [0|0] "TRUE_FALSE" GEO,SENSOR,MOTOR

BO_ 784 DBG_MOTOR_INFO_MSG: 4 MOTOR
  SG_ DBG_DC_MOTOR_CURRENT_PWM_sig: 0|8@1+ (0.1,0) [10|20] "duty percent" DRIVER
  SG_ DBG_SERVO_MOTOR_CURRENT_PWM_sig : 8|8@1+ (0.1,0) [10|20] "duty percent" DRIVER
  SG_ DBG_PID_OUTPUT_VALUE_sig : 16|8@1+ (0.1,0) [0|0] "kph" DRIVER
  SG_ DBG_MOTOR_SELF_TEST_sig : 24|1@1+ (1,0) [0|0] "TRUE_FALSE" DRIVER

BO_ 001 DRIVER_HEARTBEAT: 1 DRIVER
 SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" SENSOR,MOTOR

BO_ 002 SENSOR_HEARTBEAT: 1 SENSOR
 SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" SENSOR,MOTOR

BO_ 003 GEO_HEARTBEAT: 1 GEO
 SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" SENSOR,MOTOR

BO_ 004 MOTOR_HEARTBEAT_MSG: 1 MOTOR
  SG_ MOTOR_HEARTBEAT_sig : 0|8@1+ (1,0) [0|255] "pulse" DRIVER

CM_ BU_ DRIVER "The driver controller driving the car";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BU_ SENSOR "The sensor controller of the car";
CM_ BO_ 100 "Sync message used to synchronize the controllers";
CM_ SG_ 100 DRIVER_HEARTBEAT_cmd "Heartbeat command from the driver";

BA_DEF_ "BusType" STRING ;
BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0;
BA_DEF_ SG_ "FieldType" STRING ;

BA_DEF_DEF_ "BusType" "CAN";
BA_DEF_DEF_ "FieldType" "";
BA_DEF_DEF_ "GenMsgCycleTime" 0;

BA_ "GenMsgCycleTime" BO_ 100 1000;
BA_ "GenMsgCycleTime" BO_ 200 50;
BA_ "FieldType" SG_ 100 DRIVER_HEARTBEAT_cmd "DRIVER_HEARTBEAT_cmd";

VAL_ 100 DRIVER_HEARTBEAT_cmd 2 "DRIVER_HEARTBEAT_cmd_REBOOT" 1 "DRIVER_HEARTBEAT_cmd_SYNC" 0 "DRIVER_HEARTBEAT_cmd_NOOP" ;

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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>

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Motor ECU

<Picture and link to Gitlab>

Hardware Design

Motor Controller includes the controlling of the DC motor, Servo motor, Electronic speed control (ESC), and the wheel encoder. The job of the motor controller is both to steer and spin the wheels in order to move the RC car to the target destination. The DC motor, servo motor, and ESC(Traxxas ESC XL-05) were provided with the Traxxas RC car. The wheel encoder was purchased separately from Traxxas's website. The job of the DC motor is to control the spinning of the rear 2 wheels through the utilization of ESC and wheel encoder whereas the job of the servo motor is to control the steering of the front 2 wheels.

Motor Board Pinout

SJ2 Board Pin	Description
5V	Input power
3.3V	CAN transceiver power
PWM2 P2.1	DC Motor Speed Control
PWM5 P2.4	Servo Motor Control
CAP0 P2.6	Input Capture for RPM Sensor
CAN1 TX	CAN Module Tx
CAN1 RX	CAN Module Rx
GND	Grounding

DC Motor and ESC

The DC motor and ESC were provided with RC car. The DC motor is controlled by the ESC using PWM signals which were provided by the motor controller board for forward, neutral, and reverse movements. The ESC is powered ON using a 7.4 LiPo battery. The ESC converts this 7.4V to 6V and provides input to DC Motor.

ESC wires	Description	Wire Color
Vout	Output Power (6V)	RED
GND	Ground	BLACK
PWM	PWM input from SJ2-Board (P2.1)	WHITE

The car can be operated at 100Hz in the following 3 modes :
Sport Mode (100% Forward, 100% Brakes, 100% Reverse)
Racing Mode (100% Forward, 100% Brakes, No Reverse)
Training Mode (50% Forward, 100% Brakes, 50% Reverse)

...

For speed sensing we purchased a Traxxas RPM sensor as it mounted nicely in the gear box. The RPM sensor works by mounting a magnet to the spur gear and a hall effect sensor fixed to the gear box. To get the revolutions per second we used Timer2 as an input capture.
...

Software Design

Technical Challenges

< List of problems and their detailed resolutions>

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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>

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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>

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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>

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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>

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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