Difference between revisions of "F14: Team3-Self Driving Car"

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Revision as of 23:38, 21 October 2014

Grading Criteria

  • How well is Software & Hardware Design described?
  • How well can this report be used to reproduce this project?
  • Code Quality
  • Overall Report Quality:
    • Software Block Diagrams
    • Hardware Block Diagrams
      Schematic Quality
    • Quality of technical challenges and solutions adopted.

Self Driving Car

Abstract

Objectives & Introduction

Team Members & Responsibilities

  • Sensor Controller
    • Team 1: Deepak Yadav & Vinod Pangul
  • Motor Controller
    • Team 2: Naghma Anwar & Shiva Moballegh
  • I/O Unit
    • Team 3: Shreeram Gopalakrishnan & Sreeharsha Paturu Gangadhara
  • Communication Bridge & Android
    • Team 4: Johnny Yam, Kevin Beadle & Chia Pin Tseng
  • Geographical Controller
    • Team 5: Bhushan Gopala Reddy, Ryan Marlin & Rishikesh Nagare
  • Master Controller
    • Team 6: Shashank Tupkar, Bhargava Leepeng Chandra & Preeti Benake

Schedule

Team Schedule

Sl.No Start Date End Date Task Status Actual Completion Date
1 Order RC Car Completed on time
2 Order Other parts(Sensor/LCD/Motor Controller...) Ongoing
3 10/06/2014 11/15/2014 Sensor Team task Ongoing
4 Motor Controller Team task Ongoing
5 I/O Team task Ongoing
6 Communication Bridge + Android Team task Ongoing
7 Geographical Controller Team task Ongoing
8 Master Controller Team task Ongoing
9 Complete project integration  ???
10 Testing-1  ???
11 Testing-2  ???

Sensor Team Schedule

Sl.No Start Date End Date Task Status Actual Completion Date
1 10/6/2014 10/18/2014 Order Ultra Sonic Sensors Got two sensors (front and back), 2 more (front right & left) to order ->Completed. 10/19/2014
2 10/9/2014 10/9/2014 Sensor Data Sheet review with the team Completed 10/9/2014
3 10/9/2014 10/16/2104 Sensor code development Ongoing (Implementing filter (HW/SW) to get more accurate data ->(Done). Add logic to get the rest of the three sensor(front right/left and back data)
4 10/17/2014 10/18/2014 Sensor software testing
5 10/19/2014 10/24/2014 Sensor real time testing
6 10/13/2014 10/18/2014 Light sensor code Development Completed 10/16/2014
7 10/13/2014 10/18/2014 Accelerometer sensor code Development to detect tilt Completed 10/16/2014
8 10/19/2014 10/20/2014 Light Sensor and Accelerometer Testing
9 10/25/2014 10/31/2014 Battery status controller circuit Design
10 11/01/2014 11/02/2014 Battery status-circuit Testing
11 11/03/2014 11/09/2014 Complete Hardware testing-1
12 11/10/2014 11/15/2014 Complete Hardware testing-2

Geographical Team Schedule

Sl.No Start Date End Date Task Status Actual Completion Date
1 10/4/2014 10/13/2014 Research and Order GPS module Received GPS module 10/7/2014
2 10/7/2014 10/18/2014 Interface GPS module with LPC1758 Finished 10/17/14
3 10/18/2014 10/25/2014 Parse GPS data and setup constructs to send appropriate data Ongoing
4 10/14/2014 10/18/2014 Receive Compass module from Preet and interface Received Compass from Preet and tested code to get compass heading information 10/16/2014
5 10/25/2014 11/9/2014 Testing and Mapping of GPS coordinates Ongoing
6 11/9/2014 11/18/2014 Integrating and finish testing
7 11/18/2014 11/25/2014 Testing

IO Team Schedule

Sl.No Start Date End Date Task Status Actual Completion Date
1 10/7/2014 10/13/2014 Research and Order LCD Display Ordered LCD Display 10/13/2014
2 10/14/2014 10/21/2014 Interfacing LCD Display with LPC1758 Ongoing
3 10/28/2014 11/04/2014 Set-Up dedicated buttons for Start, Stop etc...
4 10/21/2014 10/28/2014 Communication with other controllers and displaying appropriate messages
5 11/04/2014 11/11/2014 Testing
6 11/11/2014 11/18/2014 Testing
7 11/18/2014 11/25/2014 Testing

Motor Team Schedule

Week No. Start Date Planned End Date Task Status Actual End Date
1 9/30/2014 10/7/2014 Study the motor controller concepts Done 10/7/2014
2 10/7/2014 10/14/2014 Set up the CAN transceiver Done 10/14/2014
3 10/14/2014 10/21/2014 Interface the SJOne-board PWM with SERVO motor On going TBD
4 10/21/2014 10/28/2014 Set up communication with other controllers On going TBD
5 10/28/2014 11/4/2014 Testing Scheduled TBD
6 11/4/2014 11/11/2014 Testing Scheduled TBD


Master Controller Team Schedule

Week No. Start Date Planned End Date Task Status Actual End Date
1 9/30/2014 10/7/2014 Implement the basic CAN Hardware Done 10/7/2014
2 10/7/2014 10/14/2014 Implement the CAN Hardware Filter among different boards Done 10/11/2014
3 10/14/2014 10/21/2014 Implement the CAN Subscriber Task Scheduled TBD
4 10/21/2014 10/28/2014 Implement Subscription Msg Task and test basic functionality with other controllers Scheduled TBD
5 10/28/2014 11/04/2014 Testing and Integration of basic functionality Scheduled TBD

Communication Bridge & Android Team Schedule

Sl.No Start Date Planned End Date Task Status Actual End Date
1 9/30/2014 9/30/2014 Obtain Bluetooth Module (already had one) Done 9/30/2014
2 9/30/2014 10/14/2014 Develop Basic Android App with Bluetooth Sensor Communication Done 10/7/2014
3 10/11/2014 10/14/2014 Interface Bluetooth Module with SJSU Dev Board Done 10/11/2014
4 10/12/2014 10/19/2014 Be able to send bi-directional arbitrary messages between Android App and Dev Board via Bluetooth Done 10/14/2014
5 10/14/2014 11/21/2014 Subscribe to all CAN messages and dump all of them via Bluetooth to Android App or web interface On going TBD
6 10/14/2014 11/21/2014 Be able to input GPS coordinates through either (or both) Android App and web interface and send through Bluetooth then CAN bus On going TBD
7 10/21/2014 11/24/2014 Android App and webpage GUI enhancements (Google Maps) Scheduled TBD

Parts List & Cost

Item# Part Desciption Vendor Part Number Qty Cost
1 RC Car Amazon.com Traxxas 37076 Rustler VXL 1 $$$.$$
2 CAN Transceiver MSC ---- 15 $$.$$
3 Sonar sensor Given by Preet LV-MaxSonar-EZ1 MB1010 1 Free
4 LCD Display New Haven NHD-0216B3Z-FL-GBW-V3-ND 1 $$$.$$
5 IR sensor Given by Preet Sharp-GP2Y0A21YK 1 Free
6 Sonar sensor Maxbotix LV-MaxSonar-EZ1 MB1010 2 $66.55
Total Cost $$$.$$

Design & Implementation

Controller Communication Table

Controllers
Controller ID Controller Type
0x01 Master Controller
0x02 Geographical Controller
0x03 Motor Controller
0x04 Sensor Controller
0x05 IO Controller
0x06 Bridge Controller
Common Communication Table
Message Number Purpose / Data layout
TBD Get version and boot info
TBD Get general info
TBD Synchronize (set) time: 
byte [0-3] : System time
TBD 
byte [0-3] : Version Info
byte [4-7] : boot timestamp
TBD 
byte [0-3] : Current time
byte [4]   : CPU usage %
Subscription Rate Info
Byte 0 Effect
0 Off
1 1Hz
5 5Hz
10 10Hz
20 20Hz
50 50Hz
Any other value Invalid date rate
Sensor Controller Communication Table
Message Number Purpose Data layout
0x00 Subscribe to sensor data Subscription Rate (TBD)
0x01 Subscribe to Car Tilt Axis data Subscription Rate (TBD)
0x02 Subscribe to Light Sensor data Subscription Rate (TBD)
0x03 Subscribe to Battery status data Subscription Rate (TBD)
0x04 Subscribed data of 0x00 
byte [0] : Front sensor value in inches
byte [1] : Left sensor value in inches
byte [2] : Right sensor value in inches
byte [3] : Back sensor value in inches
0x05 Subscribed data of 0x01 
byte [0] : X axis Value
byte [1] : Y axis Value
byte [2] : Z axis Value
0x06 Subscribed data of 0x02 
byte [0] : Light sensor value
0x07 Subscribed data of 0x03 
byte [0] : Battery status value
GPS Controller Communication Table
Message Number Purpose Data layout
0x00 Subscribe to GPS data byte [0] : Subscription rate in Hz (5, 10 acceptable)
0x01 Subscribe to Compass data byte [0] : Subscription rate in Hz (5, 10, 20 acceptable)

Hardware Design

Hardware Interface

Software Design

Implementation

Testing & Technical Challenges

Conclusion

Project Video

Project Source Code

References

Acknowledgement

References Used

http://www.socialledge.com/sjsu/index.php?title=Self-driving_Car

http://www.nxp.com/documents/user_manual/UM10360.pdf

http://www.socialledge.com/sjsu/images/d/de/2012SJOneBoardSchematic.pdf

http://www.maxbotix.com/documents/MB1010_Datasheet.pdf

http://www.sharpsma.com/webfm_send/1208

https://www.sparkfun.com/datasheets/Components/HMC6352.pdf

Appendix

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