Difference between revisions of "S23: CAN CLAN"

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(→‎Schedule)
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* Integrate Motor Controller to CAN bus with DBC, handling messages
 
* Integrate Motor Controller to CAN bus with DBC, handling messages
 
* Integrate Driver Controller to CAN bus with DBC, handling messages
 
* Integrate Driver Controller to CAN bus with DBC, handling messages
−
* Connect Sensor, Motor, and Driver controller together on CAN bus and verify messages
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* All parts received
−
* Connect all nodes together on the CAN bus, connect android app, verify messages across all nodes
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* Design interface for Geological Controller, with unit tests
 
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* Design basic android app connection and communication
 
  
 
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| 03/28/2023
 
| 03/28/2023
 
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* Design interface for GEO Controller, with unit tests
 
* Integrate Geological Controller to CAN bus with DBC, handling messages
 
* Integrate Geological Controller to CAN bus with DBC, handling messages
−
* Integrate Android app with Bridge/Sensor controller, sending/receiving messages both ways
+
* Integrate Ultrasonic sensor with SJ2 to verify distance from obstacle is sensed
 
* Integrate Motor and Steering with PWM control, figure out the working ranges
 
* Integrate Motor and Steering with PWM control, figure out the working ranges
−
* Integrate Bluetooth module to Bridge/Sensor controller, with UART logic
+
* Integrate GPS sensor with SJ2, get GPGGA strings over UART, parse current coordinates
−
* Connect Android app to Bridge/Sensor controller, send test message
 
−
* All parts received
 
  
 
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*<font color = "red"> Uncompleted
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*<font color = "red"> Completed
 
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! scope="row"| 5
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| 04/04/2023
 
| 04/04/2023
 
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* Connect all nodes together on the CAN bus, connect android app, verify messages across all nodes
+
* Integrate Compass sensor with SJ2 board over I2C and get bearing values
−
* Mobile app can send coordinates to Bridge controller
+
* Connect all nodes together on the CAN bus, verify messages across all nodes
−
* Start RPM sensor logic implementation and add it to Motor controller
+
* Code the Haversine formula into GEO controller to get distance and heading based on current and destination coordinates
 +
* Write driver logic based on distance and heading from GEO and obstacle details from sensor nodes
 +
* Integrate GPS and Compass peripherals, writing the driver and unit tests
 
* '''MILESTONE - All individual modules considered "Roughly Working" with hardware interfaced'''
 
* '''MILESTONE - All individual modules considered "Roughly Working" with hardware interfaced'''
  
 
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*<font color = "red"> Uncompleted
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*<font color = "red"> Completed
 
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| 04/11/2023
 
| 04/11/2023
 
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|
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* Integrate GPS and Compass peripherals, writing the driver and unit tests
+
 
 +
* Finalise the DBC file for project
 +
* Create a detailed schedule for remaining tasks, dividing work into four milestones
 +
* Work on calibrating compass sensor to get accurate bearing readings
 +
* Start RPM sensor logic implementation and add it to Motor controller
 +
* Integrate Bluetooth module to Bridge/Sensor controller, with UART logic
 
* Have Driver node process GPS position/heading/bearing messages and incorporate in the driver logic
 
* Have Driver node process GPS position/heading/bearing messages and incorporate in the driver logic
 
* Complete RPM sensor and integrate with Motor controller for reliable PID control
 
* Complete RPM sensor and integrate with Motor controller for reliable PID control
−
* Bridge sends to mobile app car status / telemetry data
 
−
* Compile additional parts list and order them
 
 
* '''MILESTONE - Basic car driving ability with basic obstacle avoidance'''
 
* '''MILESTONE - Basic car driving ability with basic obstacle avoidance'''
 
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| 04/18/2022
 
| 04/18/2022
 
|
 
|
 +
* Integrate Android app with Bridge/Sensor controller, sending/receiving messages both ways
 +
* Mobile app can send coordinates to Bridge controller* Connect Android app to Bridge/Sensor controller, send test message
 
* Create a on-board battery power supply for all components
 
* Create a on-board battery power supply for all components
 
* Complete the Compass I2C integration and read values from the peripheral
 
* Complete the Compass I2C integration and read values from the peripheral

Revision as of 05:52, 7 April 2023

Project Title

<Team Name>


Abstract

<2-3 sentence abstract>

Introduction

The project was divided into N modules:

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

Team Members & Responsibilities

<Team Picture>

Gitlab Project Link - [1]

<Provide ECU names and members responsible> <One member may participate in more than one ECU>

  • 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


Schedule

Week# Start Date End Date Task Status
1 03/01/2023 03/07/2023
  • Read previous projects, gather information and discuss among the group members.
  • Discuss each team-member's preference and assign controller roles
  • Create parts list for the RC car, discuss, and decide on each item
  • Completed
2 03/08/2023 03/14/2023
  • Order all parts from list and save tracking/price info
  • Completed
3 03/15/2023 03/21/2023
  • Design interface for Bridge and Sensor Controller, with unit tests
  • Design interface for Motor Controller, with unit tests
  • Design interface for Driver and LCD Controller, with unit tests
  • Integrate Bridge/Sensor Controller to CAN bus with DBC, handling messages
  • Integrate Motor Controller to CAN bus with DBC, handling messages
  • Integrate Driver Controller to CAN bus with DBC, handling messages
  • All parts received
  • Completed
4 03/22/2023 03/28/2023
  • Design interface for GEO Controller, with unit tests
  • Integrate Geological Controller to CAN bus with DBC, handling messages
  • Integrate Ultrasonic sensor with SJ2 to verify distance from obstacle is sensed
  • Integrate Motor and Steering with PWM control, figure out the working ranges
  • Integrate GPS sensor with SJ2, get GPGGA strings over UART, parse current coordinates
  • Completed
5 03/29/2023 04/04/2023
  • Integrate Compass sensor with SJ2 board over I2C and get bearing values
  • Connect all nodes together on the CAN bus, verify messages across all nodes
  • Code the Haversine formula into GEO controller to get distance and heading based on current and destination coordinates
  • Write driver logic based on distance and heading from GEO and obstacle details from sensor nodes
  • Integrate GPS and Compass peripherals, writing the driver and unit tests
  • MILESTONE - All individual modules considered "Roughly Working" with hardware interfaced
  • Completed
6 04/05/2023 04/11/2023
  • Finalise the DBC file for project
  • Create a detailed schedule for remaining tasks, dividing work into four milestones
  • Work on calibrating compass sensor to get accurate bearing readings
  • Start RPM sensor logic implementation and add it to Motor controller
  • Integrate Bluetooth module to Bridge/Sensor controller, with UART logic
  • Have Driver node process GPS position/heading/bearing messages and incorporate in the driver logic
  • Complete RPM sensor and integrate with Motor controller for reliable PID control
  • MILESTONE - Basic car driving ability with basic obstacle avoidance
  • Uncompleted
7 04/12/2022 04/18/2022
  • Integrate Android app with Bridge/Sensor controller, sending/receiving messages both ways
  • Mobile app can send coordinates to Bridge controller* Connect Android app to Bridge/Sensor controller, send test message
  • Create a on-board battery power supply for all components
  • Complete the Compass I2C integration and read values from the peripheral
  • Have PWM signals reliably controlling the motor speed, start working "backwards driving mode"
  • Interface LED ring on the Driver controller and display heading direction
  • MILESTONE - Integrated, reliably "heading" towards provided destination bearing, basic obstacle avoidance
  • First Demo (Apr. 26)
  • Uncompleted
8 04/19/2023 04/25/2023
  • 3D print sensor housings, mounting for the whole platform
  • Design and solder the prototype board with all SJTwo boards
  • Add data to display on the LCD screen
  • Outdoor testing for longer range trips, and complete necessary enhancements
  • MILESTONE - Integration part 2, perform obstacle avoidance and destination bearing
  • Second Demo (May 3)
  • Uncompleted
9 04/26/2023 05/02/2023
  • Verify that the electrical and mechanical work is complete
  • MILESTONE - Integration and outdoor testing, adding necessary software changes
  • Third Demo (May 10)
  • Uncompleted
10 05/03/2023 05/09/2023
  • enable the Headlights to the car
  • MILESTONE - Integration testing, deal with uneven terrain, reliable waypoints navigation and obstacle avoidance
  • Fourth Demo (May 17)
  • Uncompleted
11 05/10/2023 05/16/2023
  • Full System Testing, any needed Hardware and software fixes and optimizing
  • Uncompleted
11 05/24/2023 05/24/2023
  • Final Project Demo Day
  • Uncompleted


Parts List & Cost

Item# Part Description Vendor Qty Cost
1 Redcat [] 1 $
2 SN65HVD23 CAN Transceivers Waveshare[2] 5 $
3 HRLV-EZ0 Ultrasonic Sensors [] 3 $
4 [] 1 $17.50
5 [] 1 $59.50
6 [] 1 $33.18
7 [] 1 $5.99
9 [] 1 $7.00


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

Advise for Future Students

<Bullet points and discussion>

Acknowledgement

=== References ===

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