S19: Hot Wheels

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Project Title

Self-navigating RC car based on CAN communication.

Abstract

Embedded Systems are used to take real world input and covert it into the data that can be processed to monitor,control or obtain desired results. In this project , we aim to design and develop an autonomous self-driving RC car that navigates from the current location to the destination location that is selected through an Android application, avoiding all the obstacles in the path. The car comprises of 5 controllers communicating with each other over the CAN Bus, each having different functionality.

Introduction

The project was divided into 5 modules:

Sensor Controller This module detects obstacles in the driving path with the help of ultrasonic sensors.
Motor Controller This controller drives the DC motor and Servo in the car.
Geographical Controller This module assists the car in navigating to a destination with the help of location details

provided by GPS and the orientation(bearing and heading angle) provided by the compass.

Bluetooth Controller The controller uses Bluetooth to communicate with an Android application on the Android phone.

Destination coordinates are provided by this module. The Bluetooth module also displays important data like Ultrasonic sensor values, GPS coordinates and speed.

Master Controller This module will collect data from all modules and direct the motor module towards the destination.

Team Members & Responsibilities

<Team Picture>

Gitlab Project Link - [1]

  • Master Controller
    • Kailash Chakravarty

  • Sensor Controller
    • Rishabh Sheth

  • Motor Controller
    • Kriti Hedau
    • Tahir Rawn

  • Geographical Controller
    • Harmeen Joshi
    • Nandini Shankar

  • Communication Bridge Controller & Android Application
    • Swanand Sapre
    • Aquib Mulani

  • Code Review & Commit Approvers
    • Rishabh Sheth
    • Nandini Shankar
    • Kailash Chakravarty


Schedule

Week# Date Task Status Completion Date
1 02/12/19
  • Form Teams
  • Completed
  • 02/12/19
2 02/17/19
  • Setup a Slack workspace for the team.
  • Setup private channel on Slack workspace
  • Completed
  • Completed
  • 02/17/19
  • 02/17/19
3 02/26/19
  • Create a Gitlab project and add all team members as well as Preet
  • Order CAN transcievers
  • All team members get familiar with the Gitlab environment and make their initial commit.
  • Completed
  • Completed
  • Completed
  • 02/26/19
  • 02/26/19
  • 02/26/19
4 03/05/19
  • Research previous projects wiki page and gather useful information.
  • Identify and discuss individual modules within the project and finalize roles of each team member.
  • Demo CAN Communication
  • Completed
  • Completed
  • Completed
  • 03/07/19
  • 03/07/19
  • 03/07/19
5 03/12/19
  • Each team member review their corresponding module hardware requirements.
  • Study data sheets of sensors used in each module.
  • Pick PCB design platform and begin work on PCB design/schematic.
  • In-Progress
  • In-Progress
  • Not Started
6 03/19/19
  • Finish ordering required components.
  • Finalize PCB design/order by end of week.
  • Each team member start work on implementing individually working modules.
  • Not Started
  • Not Started
  • Not Started
7 03/26/19
  • Demo a "Hello World" program implementation by each module.
  • Study android app development environment.
  • Start implementing android app.
  • Not Started
  • Not Started
  • Not Started
8 04/02/19
  • --- SPRING BREAK ---
9 04/09/19
  • Demo Android app basic prototype
  • Not Started
10 04/16/19
  • Finish implementing individual working modules.
  • Not Started
11 04/23/19
  • Work on integrating individual modules into the final testing.
  • Identify test cases for the integrated prototype model.
  • Start integration testing.
  • Not Started
  • Not Started
  • Not Started
12 04/30/19
  • Finish integration testing.
  • Finalize Wiki page documentation.
  • Not Started
  • Not Started
13 05/07/19
  • --- BUFFER WEEK ---
14 05/14/19
  • Final Exam Preparation
15 05/22/19
  • Final Demo

Parts List & Cost

Item# Part Desciption Vendor Qty Cost
1 RC Car Traxxas 1 $250.00
2 CAN Transceivers MCP2551-I/P Microchip [2] 8 Free Samples

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 [3]

VERSION "0.1.0"

BU_: MASTER SENSOR MOTORIO GEO APP

BO_ 220 MOTORIO_CMD: 4 MASTER 

SG_ MOTORIO_CMD_Direction : 0|8@1+ (1,0) [0|2] "" MOTORIO

BO_ 210 ULTRA_CMD: 4 SENSOR 

SG_ SENSOR_SONARS_FrontDistance : 0|8@1+ (1,0) [2|100] "" MASTER

BO_ 250 DISTANCE: 4 GEO 

SG_ DISTANCE_FinalDistance : 0|16@1+ (0.1,0) [0|0] "" MASTER

BO_ 102 BLUETOOTH: 4 APP 

SG_ DISTANCE_FinalDistance : 0|16@1+ (0.1,0) [0|0] "" MASTER

CM_ BU_ MASTER "The Master controller of the car";

CM_ BU_ MOTOR "The motor controller of the car";

CM_ BU_ SENSOR "The sensor controller of the car";

CM_ BU_ GEO "The Geo controller of the car";

CM_ BU_ APP "The Bluetooth/App controller of the car";



Sensor ECU

<Picture and link to Gitlab>

Motor Controller

Group Members

Design & Implementation

Hardware Design

Motor Module Schematic


SJOne Pin Diagram
Sr.No Pin Number Pin Function
1 P0.0 CAN RX
2 P0.1 CAN TX
3 P2.0 Servo Motor
4 P2.1 Electronic Speed Controller (ESC)
5 P2.5 RPM Sensor



Hardware Specifications

ESC and DC Motor

ESC and DC Motor

The Traxass Slash 4x4 has XL-5 Electronic Speed Controller (ESC) and Titan 12T DC Motor installed. The ESC is powered by LiPo Battery which further controls the DC motor. The ESC comes with the feature of calibrating the DC motor using the EZ set button that is present on ESC. It comes with three modes

  • Sport mode (100% Forward, 100% Brakes, 100% Reverse)
  • Training mode (100% Forward, 100% Brakes, No Reverse)
  • Racing mode (50% Forward, 100% Brakes, 50% Reverse)

For our project we used Sport mode because we needed full capability of the motor for uphills and rough terrains. Also we used our ESC in Low-Voltage Detection activated mode. In order to know more about ESC profiles, Battery modes and how to calibrate them, refer to Traxxas official link here [4].

DC Motor Pin Connection
Wires on (ESC) Description Wire Color Code
(+)ve Positive Terminal RED
(-)ve Negative terminal BLACK
ESC Pin Connection
Wires on (ESC) Description Wire Color Code
(+)ve Connects to (+)ve of DC Motor RED
(-)ve Connects to (-)ve of DC Motor BLACK
(+)ve Connects to (+)ve of Battery RED
(-)ve Connects to (-)ve of Battery BLACK
P2.0 (PWM1) PWM Signal From SJOne WHITE
VCC 6 Volts (OUTPUT) RED
GND Ground BLACK

Servo Motor

Traxxas Servo Motor

Servo Motor is responsible for steering the car. Traxxas Slash 4x4 has Servo Motor 2075 pre-installed in it. This servo controls the front two tires of the car.

Servo Motor Pin Connection
Pin No. (SJOne Board) Function Wire Color Code
P2.1 (PWM2) PWM Signal WHITE
VCC 5V (INPUT) RED
GND Ground BLACK



RPM Sensor

Traxxas RPM Sensor

RPM sensor is used to calculate speed of the car. A magnet is placed inside the spur gear with the help of magnet holder and every time a tire completes one rotation, RPM sensor detects a pulse. RPM sensor it self is placed in the gear cover. In order get the RPM Sensor working, following Telemetry items from Traxxas are required

  • Traxxas RPM Sensor 6522
  • Traxxas Magnet Holder 6538
  • Traxxas Gear Cover 6537

To install these, there is very detailed step by step tutorial by Steve Jones (Cstoneav) on Youtube which can be found here [5]

RPM Sensor Pin Connection
Pin No. (SJOne Board) Description Wire Color Code
P2.5 (PWM6) GPIO (INPUT) WHITE
VCC 5V (INPUT) RED
GND Ground BLACK




Hardware Interface

Software Design

Technical Challenges


Geographical Controller

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Unreliable GPS lock

<Problem Summary> <Problem Resolution>


Communication Bridge Controller & LCD

User communicates with the car through the Communication Bridge Controller. This module consists of the LPC1758 communicating with the Android application on the phone via Bluetooth.The user selects the final destination on the google map to which the car should navigate, through an android application. The Android application also works as a display where it displays the recorded values of the ultrasonic sensors, the current latitude and longitude, the bearing angle, and the compass values for the car.

<Picture and link to Gitlab>


The Hardware and the Software details are given below:


Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Insane Bug

<Problem Summary> <Problem Resolution>


Master Module

<Picture and link to Gitlab>

Hardware Design

Software Design

The Master control algorithms including Navigation and Obstacle avoidance(shown in flowcharts below) are run at the rate of 25Hz.

Master control Algorithm
Obstacle avoidance Algorithm
Navigation Algorithm

Technical Challenges

<Bullet or Headings of a module>

Improper Unit Testing

Problem : The logic to turn ON LEDs for respective modules when their heartbeat in the form of CAN messages is received was incorrect.

Resolution : Unit testing caught this bug even before It was tested on Hardware, and was fixed.


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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