Difference between revisions of "S24: Team TerraByte"

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Revision as of 20:25, 24 May 2024

Title

TerraByte


Abstract

<2-3 sentence abstract>

Introduction

The project is divided into 5 modules:

  • Sensor Node
  • Motor Node
  • Driver Node
  • Geo Controller Node
  • Android App

Team Members & Responsibilities

<Team Picture>

Gitlab Project Link - C243_TerraByte

Module Owner Supporter
Sensor + Bridge Vamsi Rushi Dhanekula -
Driver + LCD Minal Upadhye Susmitha
Motor + ESC Susmitha Ganesh Minal
GPS + Geo Controller Harikrishnan Kokkanthara Jeevan -
App Dikshant Kotla Vamsi
  • Android Application
    • Link to Gitlab user1


Schedule

Week# Start Date End Date Task Status
1 03/04/2024 03/10/2024
  • Read previous projects, gather information and discuss among the group members.
  • Order CAN transceiver modules.
 Completed
2 03/04/2024 03/10/2024
  • Understand and learn to use the Busmaster.
  • Build db9 connector and connect to Busmaster.
  • Distribute modules to each team member.
 Completed
3 03/11/2024 03/17/2024
  • Finalize and acquire sensors and RC car parts.
  • acquire LCD display
  • Create initial dbc
 Completed
4 03/18/2024 03/24/2024
  • Get Data from Ultrasonic Sensors
  • Get co-ordinates from GPS module
  • Get motors working
  • Display LCD module
  • Interface Compass(LSM303)
  • Interface Bluetooth
  • Explore plug-and-play mounting of sensors and SJ2 boards.
 Completed
5 03/25/2024 03/31/2024
  • Build on DBC and finalize message IDs
  • Develop GPS Module with Geo controller
  • Develop motor Module with motor Controller
  • Develop ultrasonic sensor module with sensor Controller
  • Develop LCD and driver module
 Completed
6 04/01/2024 04/07/2024

PROTOTYPE 1

  • Connect sensor-driver-motor modules
  • Assemble hardware
  • Basic setup integration tests
  • Basic mobile app setup
 Completed
7 04/08/2024 04/14/2024
  • Integrate Geo/GPS module with connected hardware
  • Motors with PID control
  • Obstacle avoidance
  • Finalize plug-and-play design
 Completed
8 04/15/2024 04/21/2024

PROTOTYPE 2

  • Start with the mobile app
  • Integrate Bluetooth module with app
  • Fine-tune obstacle avoidance
 Completed
9 04/22/2024 04/28/2024
  • Advanced integration testing
  • Indoor testing
 Completed
10 04/29/2024 05/05/2024

PROTOTYPE 3

  • Prepare for outdoor tests.
 Completed
11 05/06/2024 05/12/2024

PROTOTYPE 4

  • Perform outdoor tests and recalibrate.
 Completed
12 05/13/2024 05/19/2024
  • Final Demo
 Completed


Parts List & Cost

Item# Part Desciption Vendor Qty Cost
1 RC Car - Traxxas Slash 2Wd BL Traxxas [1] 1 $260.00
2 SJ2 boards CMPE SCE 4 $50.00 each
3 CAN Transceivers Adafruit [2] 4 $3.95 each
4 LCD module 20*4 GeekPi [3] 1 $0.00
5 Bluetooth module Adafruit [4] 1 $0.00
6 Ultrasonic Sensors Adafruit [5] 4 $0.00
7 GPS module Adafruit [6] 1 $0.00
8 Compass Adafruit [7] 1 $0.00
9 GPS Antenna  ? 1 $0.00
10 RPM Sensors - 1 $12.00
xx DB9 connector female Amazon [8] 1 $9.99
xx Jumper wires Amazon [9] 2 $6.98 each
xx Bread boards Amazon [] 2 $0.00 each


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 -- https://gitlab.com/minalupadhye/C243_terrabyte/-/blob/master/dbc/project.dbc?ref_type=heads


Sensor Controller & Bridge

<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>


Driver Controller & LCD

<Picture and link to Gitlab>

Hardware Design

The SJ2 board hosting the driver module is connected to -

  • CAN bus :
  • LCD on I2C :
  • Sensor LEDs :


Software Design

Driver module has 2 main objectives

  • Process the input from sensor and geo module and provide control output to motor module.
  • Display important information on the LCD.

Driver_logic() is the core part which manages the entire module.

Receive Handling/Data Processing
void periodic_callbacks__10Hz(uint32_t callback_count) {
  gpio__toggle(board_io__get_led1());
  can_bus_handler__process_all_received_messages();
  can_bus_handler__transmit_messages();
  driver_mia__manage_mia(10);
}

Technical Challenges

< List of problems and their detailed resolutions>


Motor Controller

<Picture and link to Gitlab>

Hardware Design

We used Traaxas Slash XL5 RWD for this project. The ESC (XL-5), BLDC motor, servo and battery come with the RC car. The 6V, 3000mAh NiMH battery powers the ESC (XL-5), servo and the BLDC. The ESC controls the BLDC however the servo is not connected via the ESC. The BLDC controls the forward, reverse and brake motion of the car along with the respective speed in the forward and reverse direction. The servo controls the steer angle. Brake and speed in both forward and reverse in case of BLDC motor and steer angle in case of Servo motor are controlled by PWM signals.
The ESC operates in 3 different modes as per the user manual, we choose to operate the car in Training mode where the forward and reverse speeds are half its original speeds. The maximum speed the car could reach is around 30Kmph in this mode. This mode can be set by long pressing the button on the ESC and releasing the button when there are 3 consecutive red blinks.
For the RC car the PWM signals are provided by the Radio Transmitter + Remote. We tried to understand the sequence of PWM that is to be provided to keep the ESC calibrated, for forward, reverse and brake by providing the commands on the remote and checking the waveform on oscilloscope. The following were our observations which helped us develop motor control module:

Caption text
STATE PWM Comments
ESC Calibration 15%
  • ESC is calibrated – Solid red LED ON
  • ESC else blinking green LED on ESC
Forward 15.1% to 20% Speed increases with the PWM
Brake PWM < 15% followed by 15% Example
Reverse 14.9% to 10% Speed increases with the decrease in PWM
Right 15.1% to 20% Angle increases with the PWM
Left 14.9% to 10% Angle increases with decrease in PWM
No steer 15% Example

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>


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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