F17: Tata Nano

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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.

PAGE UNDER CONSTRUCTION

Tata Nano

Self-Navigation Vehicle Project

Abstract

This section should be a couple lines to describe what your project does.

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

  • Master Controller
    • Manan Mehta
    • Shivam Chauhan
  • Geographical Controller
    • Kalki Kapoor
    • Aditya Deshmukh
  • Communication Bridge + Android Application + LCD
    • Ashish Lele
    • Venkat Raja
  • Motor and I/O Controller
    • Aditya Choudari
    • Shashank Iyer
  • Sensor Controller
    • Pushpender Singh
    • Hugo Quiroz
  • Module Level Testing
    • Manan Mehta
    • Shashank Iyer

Project Schedule

Legend: Motor & I/O Controller , Master Controller , Communication Bridge Controller, Geographical Controller, Sensor Controller , Team Goal

Week# Start Date End Date Task Status
1 09/12/2016 09/19/2016
  • Order Components and work distribution
  • Research on the type and model of sensors to use and order them
  • Research on the GPS and compass sensors
  • Research on components requirement based on past projects
  • Research various RC car models
 Completed
2 09/19/2016 09/26/2016
  • Set up git, slack channel, shared drive and wikipage
  • Distribute parts to sub-groups
  • Research various battery options especially NiMH and Li-Po batteries
  • Android Development Environment Setup
  • Research on various compatible bluetooth modules
 Completed
3 09/26/2016 10/03/2016
  • Discuss software architecture of each module
  • Study the data sheet of sensor & prepare a high-level design
  • Experiment and Research on voltage requirements and PWM requirements for Servo and DC motor
  • Experiment and Research on duty cycle required for controlling steer and speed of the car
 Completed
4 10/03/2016 10/10/2016
  • Agree on control system architecture, assign CAN node priorities and decide on communication paradigm between Master and Nodes. Prep for prototype.
  • Interface the sonic sensor to the sensor controller over pwm and create a wrapper class for the sensor
  • Interface servo motor and ESC to the SJone board
  • Interface GPS and Compass sensor to the micrcontroller
  • Interface LIDAR sensor and build algorithm to identify obstacles
  • Build wrapper classes for steering and motor control
  • Set-up LCD and SJone communication
  • Basic Android Application development, Intent passing, Finalize GUI template.
  • Decide on the CAN ids and the priorities of the CAN messaged for various nodes.
  • Stress test the sensors and design a filter so that reliable readings are sent to the master.
  • Experiment and research on precision control of speed and steering using signals from SJ One board.
  • Developing the framework for the I/O display and setting up SPI framework to read the CAN messages.
  • Design the barebones basic functionality of the algorithm. Create a skeleton code.
  • Controlling Bluetooth of Mobile Phone(i.e. Turn on, Connect), Connect Mobile phone with Bluetooth BLE module on SJOne.
 On-Going
5 10/10/2016 10/17/2016
  • Testing week for all nodes. Goal is for each node to have a basic interface to their sensors and actuators in place, where they are able to read data and manipulate control signals. For instance: sensors node should be reading distance, motors node should be able to generate motor speed control signals. Modify the necessary parts in the CAN.dbc file.
  • Interface back sensor and test all the sensors together.
  • Debug and fix any issues.
  • Design software filter to filter CAN messages required for motor controller.
  • Get readings from the RPM sensor.
  • Read the CAN messages to display on the LCD connected to the SJ One board.
  • Set up CAN communication between the sensor,motor and the master. Test for correct data transmission.
  • Establishing basic communication between Android phone and SJOne Board.
6 10/17/2016 10/24/2016
  • Interface all nodes over Can bus and coordinate order and status message transfers between Master and Nodes. PCAN interface should be built to view & test CAN messages via Busmaster.
  • Integrate sensors with other nodes via CAN and test the sensor values while the car is on the move.
  • The master should have reliable data from sensors by now.
  • Send signals to the motor controller from another CAN Node to control speed and steering using CAN interface.
  • Creating necessary display messages and graphics related to the I/O modules.
  • Design the algorithm to process the data received from the sensors and motors by the master.
  • Integrate Google Map, Get Longitude and Latitude data from the position where Marker is placed, Get important data of other nodes from CAN bus.
7 10/24/2016 10/31/2016
  • Integrate all hardware to the RC car, including power supplies from batteries. Test self powered prototype with the goal of controlling forward, reverse, left and right with start/stop command from the phone app. Test & fix basic integration bugs.
  • Integrating and testing motor & I/O controller with other nodes.
  • Extend the algorithm to control the motors along with the obstacle information received from the sensors.
  • Integrate bridge controller with other modules via CAN. Test & fix basic integration bugs.
8 11/30/2016 11/7/2016
  • Continue with hardware/software development & integration and complete first prototype of the collision avoidance feature.
  • Design sensor mounts and 3D print them.
  • Test and fine tune the algorithm developed so far for the first demo.
  • Put multiple markers on Map and implement logic to find shortest route to destination and pass route information on CAN bus.
9 11/7/2016 11/14/2016
  • Integrate GPS coordinates from Android app into Master Node for autonomous feature.
  • Mount the sensors and test for any dead band. Position them for maximum coverage.
  • Obtain the data from the GPS and process the data to design the algorithm for navigation. Design and implement the kill switch to avoid the car from crashing.
  • Integrate GPS coordinates from Android app into Master Node for autonomous feature. Testing and Bug fixing.
10 11/14/2016 11/21/2016
  • Integrate all nodes into one. Start testing car's autonomous driving capabilities with path following from GPS waypoints from Android app.
  • Tune & optimize the sensor filter logic and the sensor mount as required.
  • Integrate all the modules and test for the functionality. Save the data received from various modules into a log file for debugging purpose.
11 11/21/2016 11/28/2016
  • Autonomous driving should be working by now. Focus on improving car's performance. Tweak all nodes to better performance, and fix last minutes bugs.
  • Interface Head lights and turn them ON based on light sensor value.
  • Include the headlights and the LCD on the car and display messages on them.
12 11/22/2016 11/28/2016
  • Stress test the car with different environment scenarios.
  • Improvise the algorithm and carry out stress testing and integration testing. Work on the modifications required and test previous hardware additions to the car.
13 11/29/2016
  • Final touches to improve overall vehicle's robustness. Self-fixing nodes, reduce/eliminate unexpected behaviors and crashes.
  • Integration and testing. Work to improvise on the algorithms and make sure individual modules work. Addition of any extra features and software development.
 -

Parts List & Cost

Item# Part Desciption Vendor Qty Cost
1 RC Car - Traxxas 1/10 Slash 2WD Amazon 1 $189.95
2 Traxxas 2872X 5000mAh 11.1V 3S 25C LiPo Battery Amazon 1 $56.99
3 Traxxas 7600mAh 7.4V 2-Cell 25C LiPo Battery Amazon 1 $70.99
4 Traxxas 2970 EZ-Peak Plus 4-Amp NiMH/LiPo Fast Charger Amazon 1 $35.99
5 Bluetooth Module HC-05 Amazon 1 $8.99
6 4D systems 32u LCD 4D systems 1 $41.55
7 LV Maxsonar EZ0 Ultrasonic sensors Robotshop 5 $124.75
8 LIDAR Sensor Robotshop 1 $190
9 Ultimate GPS breakout Adafruit 1 $49.95
10 CAN tranceivers Microchip Samples 10 Free
11 SJOne Boards Provided by Preet 5 $400.0

DBC File Link

https://gitlab.com/shivam5594/Autonomous-car/blob/embedded/common_dbc/243.dbc

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Include sub-sections that list out a problem and solution, such as:

<Bug/issue name>

Discuss the issue and resolution.

Conclusion

Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?

Project Video

Upload a video of your project and post the link here.

Project Source Code

References

Acknowledgement

Any acknowledgement that you may wish to provide can be included here.

References Used

List any references used in project.

Appendix

You can list the references you used.

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