S20: Canster Truck

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CAN-STER TRUCK LOGO

Abstract

The CAN-STER Truck Project is an autonomous RC car with CAN Bus interfaced controllers. The development of the RC car's subsystem modules (Interfacing of Ultrasonic Sensor, LIDAR, Bluetooth, GPS, and CAN modules) was divided among six team members. The aim of the project is to develop an autonomous RC Car which can navigate from the source location to a selected destination by avoiding obstacles in its path using sensors and motors.


Introduction and Objectives

The project was divided into 7 modules:

  • Bridge and Sensor Controller
  • Motor Controller
  • Geological Controller
  • Driver and LCD Controller
  • Hardware Integration
  • Android Application
  • Testing & Code Review

RC Car Objectives 

     1. Driver and LCD Controller - Handles algorithms for obstacle avoidance, route maneuvering, and waypoints
     2. Geological Controller - Recieves coordinates from GPS and Heading from Compass for navigation 
     3. Motor Controller - Controls movements of the RC Car 
     4. Bridge and Sensor Controller - Detects surrounding objects and interfaces android application to controller via bluetooth

Team Objectives

High Level System Diagram


Team Members and Responsibilities

Gitlab Project Link - CAN-STER Truck

  • Niket Naidu LinkedIn Gitlab
    • Geological Controller
    • Driver and LCD Controller
    • Testing & Code Review
    • Android Application
  • Ganesh Ram Pamadi LinkedIn Gitlab
    • Motor Controller
    • Hardware Integration
    • Testing & Code Review
  • Nikhil Pabbisetty LinkedIn Gitlab
    • Bridge and Sensor Controller
    • Motor Controller
  • Akhil Cherukuri LinkedIn Gitlab Github
    • Android Application
    • Geological Controller
    • Hardware Integration
  • Ashish Anant Ladage LinkedIn Gitlab
    • Driver and LCD Controller
    • Hardware Integration
    • Motor Controller
  • Jesus De Haro De Reza LinkedIn Gitlab
    • Bridge and Sensor Controller
    • Motor Controller


Administrative Responsibilities


Schedule

Week# Start Date End Date Task Status
1 02/11/2020 02/17/2020
  • Form teams and decide group name
  • Review past projects
  • Slack: Create project group and invite Preet
  • GitLab: Create project groups repository
  • Analysis of component required
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
2 02/18/2020 02/24/2020
  • Study CAN Communication
  • Create Bill of Materials
  • Order RC Car
  • Completed
  • Completed
  • Completed
3 02/25/2020 03/02/2020
  • Setup team finance management using Splitwise application
  • Complete Bill of Materials
  • Order all other required components
  • Wikipedia: Setup project report template
  • Completed
  • Completed
  • Completed
  • Completed
4 03/03/2020 03/09/2020
  • Read the respective datasheets and manuals for each component
  • Test each component for working conditions
  • Completed
  • Completed
5 03/10/2020 03/16/2020
  • Assign team responsibilities and roles
  • Setup team project management environment (ClickUp)
  • Define CAN DBC
  • Research GPS antennas and order
  • Android: Environmental setup of Android Studio and enable version control
  • Hardware : Decide PCB editing software (easyEDA)
  • Hardware : Draft schematic for required PCB design
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
6 03/17/2020 03/23/2020
  • Hardware : Create model of PCB
  • Android: Add a Button for changing bluetooth connection status in the application
  • Geological: Interface Compass module with SJ-2 board using I2C interface
  • Geological: Interface GPS module with SJ-2 board using the UART interface
  • Geological: Parse raw data to get meaningful values for GPS and Compass
  • Sensor: Interface and check the functionality of ultrasonic sensors to the SJ-2 board
  • Motor: Interface of Servo & DC motor to the SJ-2 board and check for basic functionality
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
7 03/24/2020 03/30/2020
  • Hardware : Finalize components placement on PCB.
  • Motor: Add PWM functionality and test the code on DC and servo motors
  • Sensor: Interface and check and study the output readings of Lidar sensor with SJ-2 board over UART
  • LCD Display: Explore UI designing of LCD
  • Hardware: Finalize on optimal ultrasonic sensor placements
  • Android: Initiate Bluetooth communication and show staus via text view
  • Wikipedia: Establish final wiki schedule
  • Complete CAN communication format for each controller and link DBC file to the Wiki
  • Complete high-level system block diagram
  • Complete unit-level block diagrams
  • Bridge: Interface HC-5 bluetooth module with Sj-2 board using serial communicaton
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
  • In Progress
  • Completed
8 03/31/2020 04/06/2020
  • Hardware: Analyze PCB model and order PCB Circuit board
  • Android: Initiate Bluetooth communication and send "Hello World".
  • Wikipedia: Start adding information/images/diagrams to the relevant sections
  • Motor: Configure ESC for correct speed outcome according to frequency & PWM values
  • Motor: Finish RPM sensor hardware and software implementation and integration
  • Sensor: Read output from Lidar and setup structure for outputting for DBC
  • Geological: Implement waypoints algorithm
  • Driver: Implement obstacle avoidance algorithm
  • Bridge: Pass data such as "Hello World" from HC-05 bluetooth module to bluetooth terminal android application
  • Completed
  • Completed
  • In Progress
  • Completed
  • Completed
  • In Progress
  • In Progress
  • Completed
  • In Progress
9 04/07/2020 04/13/2020
  • Hardware: Remove Unused parts from RC Car
  • Hardware: Mount PCB and 3D Parts
  • Motor: Decide different cut-off values from sensor to command right /slight right/ straight/ slight left/ left to motor.
  • Android: Embed Google Maps API for setting the car's destination.
  • LCD: Work to show RC cars live status information(battery level, current speed, long, lat, bearing, sensor data, etc)
  • Driver: Test obstacle avoidance algorithm and fine-tune sensor readings
  • Geological: Test checkpoint algorithm
  • Bridge: Establish two way communication between android application and bluetooth module
  • Update Bill of Materials for miscellaneous hardware
  • In Progress
  • In Progress
  • Completed
  • Completed
  • In Progress
  • In Progress
  • In Progress
  • In Progress
  • In Progress
10 04/14/2020 04/20/2020
  • Hardware: Integrate all hardware modules
  • LCD: Testing & Validation of the LCD UI and display vehicle status information
  • Android: Send car location to the app and checkpoints received to Geo module
  • Motor: Optimize PID control by accelerating/decelerating as instructed by Driver
  • Bridge: Configure HC-05 for auto reconnection if bluetooth communication disconnects
  • Add multiple debug messages and transmit on CAN
  • In Progress
  • In Progress
  • Completed
  • In Progress
  • In Progress
  • In Progress
11 04/21/2020 04/27/2020
  • Android: Send additional vehicle status information from RC car to the Application for display
  • Android: Finalize User Interface Design and Icon
  • Continuously test the whole system and handling of corner cases (outside).
  • Finalize RC Car For Project Proto 1
  • In Progress
  • Completed
12 04/28/2020 05/04/2020
  • Gitlab: Push final code
  • April 28th: Project Proto 1
  • Finalize RC Car for Project Demo
  • May 1st: Project Presentation
  • Finalize RC Car for Project Proto 2
13 05/05/2020 05/21/2020
  • Complete Individual Contribution Peer Grading
  • Review and Complete Wiki Project Page


Bill Of Materials

Item# Part Description Part Model & Vendor Quantity Cost in USD
1 Microcontroller Boards SJ2 Boards (Purchased from Preet Kang) 4 $200.00
2 CAN Transceivers Waveshare SN65HVD230 12 $54.48
3 RC Car Traxxas 2WD RTR with 2.4Ghz Radio 1 $260.00
4 Lithium-Ion Battery Traxxas 7600mAh 2S 7.4V 25C iD LiPo Battery Pack 1 $75.00
5 Lithium-Ion Battery Charger Traxxas 2970 EZ-Peak Plus 4-Amp NiMH/LiPo Fast Charger 1 $50.00
6 Compass Breakout Board DFRobot CMPS11 Compass 1 $29.99
7 Bluetooth Breakout Board DSD TECH Bluetooth HC-05 1 $8.49
8 LIDAR Sensor SEEED STUDIO RPLIDAR A1M8 1 $109.99
9 RPM Sensor Traxxas 6520 RPM Sensor 1 $13.70
10 GPS Breakout Board Adafruit Ultimate GPS Breakout v3 1 $44.30
11 LCD Display 4Dsystems 3.2 TFT-LCD ULCD-32PTU 1 $79.00
12 Ultrasonic Sensors ELEGOO HC-SR04 Ultrasonic Module 5 $12.00
13 GPS Antenna GPS Antenna A1-UX 1 $10.98
14 PCB Fabrication JLCPCB 5 $40.15
15 Miscellaneous Amazon,Mouser Electronics,Digikey,Anchor Electronics ~ $48.07
Total $1036.15


Printed Circuit Board

Design And Architecture

Power Section

Fabrication

Challenges

PCB Layout Design in EasyEDA
PCB Schematic
  • PCB Top Layer
  • PCB Bottom Layer


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

DBC FILE: Gitlab 

VERSION ""

NS_ :
	BA_
	BA_DEF_
	BA_DEF_DEF_
	BA_DEF_DEF_REL_
	BA_DEF_REL_
	BA_DEF_SGTYPE_
	BA_REL_
	BA_SGTYPE_
	BO_TX_BU_
	BU_BO_REL_
	BU_EV_REL_
	BU_SG_REL_
	CAT_
	CAT_DEF_
	CM_
	ENVVAR_DATA_
	EV_DATA_
	FILTER
	NS_DESC_
	SGTYPE_
	SGTYPE_VAL_
	SG_MUL_VAL_
	SIGTYPE_VALTYPE_
	SIG_GROUP_
	SIG_TYPE_REF_
	SIG_VALTYPE_
	VAL_
	VAL_TABLE_

BS_:

BU_: DBG DRIVER IO MOTOR SENSOR GEO


BO_ 100 DRIVER_HEARTBEAT: 1 DRIVER
 SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" SENSOR,MOTOR

BO_ 101 SENSOR_HEARTBEAT: 1 SENSOR
 SG_ SENSOR_HEARTBEAT_cmd: 0|8@1+ (1,0) [0|0] "" DRIVER,GEO

BO_ 102 GEO_HEARTBEAT: 1 GEO
 SG_ GEO_HEARTBEAT_cmd: 0|8@1+ (1,0) [0|0] "" DRIVER,SENSOR

BO_ 103 MOTOR_HEARTBEAT: 1 MOTOR
 SG_ MOTOR_HEARTBEAT_cmd: 0|8@1+ (1,0) [0|0] "" DRIVER

BO_ 200 SENSOR_SONARS: 4 SENSOR
 SG_ SENSOR_SONARS_left : 0|10@1+ (1,0) [0|800] "inch" DRIVER
 SG_ SENSOR_SONARS_right : 10|10@1+ (1,0) [0|0] "inch" DRIVER
 SG_ SENSOR_SONARS_middle : 20|10@1+ (1,0) [0|0] "inch" DRIVER

BO_ 210 SENSOR_LIDAR: 8 SENSOR
 SG_ SENSOR_LIDAR_middle: 0|16@1+ (1,0) [0|0] "" DRIVER
 SG_ SENSOR_LIDAR_slight_left: 16|16@1+ (1,0) [0|0] "" DRIVER
 SG_ SENSOR_LIDAR_slight_right: 32|16@1+ (1,0) [0|0] "" DRIVER
 SG_ SENSOR_LIDAR_back: 48|16@1+ (1,0) [0|0] "" DRIVER

BO_ 220 SENSOR_BT_COORDINATES: 8 SENSOR
 SG_ SENSOR_BT_COORDINATES_latitude: 0|32@1+ (0.0001,0) [0|0] "" GEO
 SG_ SENSOR_BT_COORDINATES_longitude: 32|32@1+ (0.0001,0) [0|0] "" GEO

BO_ 300 GEO_DEGREE: 8 GEO
 SG_ GEO_DEGREE_current: 0|32@1+ (0.1,0) [0|0] "" DRIVER
 SG_ GEO_DEGREE_required: 32|32@1+ (0.1,0) [0|0] "" DRIVER

BO_ 400 DRIVER_STEERING: 8 DRIVER
 SG_ DRIVER_STEERING_direction: 0|8@1- (1,0) [-2|2] "" MOTOR
 SG_ DRIVER_STEERING_speed: 8|32@1+ (0.1, 0) [0|60] "kph" MOTOR

BO_ 500 MOTOR_INFO: 4 MOTOR
 SG_ MOTOR_INFO_rpm: 0|32@1+ (0.1,0) [0|0] "" DRIVER

CM_ BU_ DRIVER "The driver controller driving 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_ BO_ 100 "Driver Sync message used to synchronize the controllers";
CM_ BO_ 101 "Sensor Sync message used to synchronize the controllers";
CM_ BO_ 102 "Geo Sync message used to synchronize the controllers";
CM_ BO_ 103 "Motor Sync message used to synchronize the controllers";
CM_ BO_ 200 "Ultrasonic Sensor values sent by Sensor Node";
CM_ BO_ 210 "Lidar Sector values sent by Sensor Node";
CM_ BO_ 220 "Coordinate BT values sent by Sensor Node";
CM_ BO_ 300 "Current and computed degree values sent by Geo Node";
CM_ BO_ 400 "Steering direction and speed values sent by Driver Node";
CM_ BO_ 500 "Information values sent by Motor Node";

CM_ SG_ 100 DRIVER_HEARTBEAT_cmd "Heartbeat command from the driver";
CM_ SG_ 101 SENSOR_HEARTBEAT_cmd "Heartbeat command from the sensor";
CM_ SG_ 102 GEO_HEARTBEAT_cmd "Heartbeat command from the geological node";
CM_ SG_ 103 MOTOR_HEARTBEAT_cmd "Heartbeat command from the motor";

CM_ SG_ 200 SENSOR_SONARS_left "Ultrasonic Sensor attached to the left side";
CM_ SG_ 200 SENSOR_SONARS_right "Ultrasonic Sensor attached to the right side";
CM_ SG_ 200 SENSOR_SONARS_middle "Ultrasonic Sensor attached to the middle";

CM_ SG_ 210 SENSOR_LIDAR_middle "Lidar sensing the middle sector (-15 to 15)";
CM_ SG_ 210 SENSOR_LIDAR_slight_left "Lidar sensing the slight left sector (-45 to -15)";
CM_ SG_ 210 SENSOR_LIDAR_slight_right "Lidar sensing the slight right sector (15 to 45)";
CM_ SG_ 210 SENSOR_LIDAR_back "Lidar sensing the back of the car (165 to 195)";

CM_ SG_ 220 SENSOR_BT_COORDINATES_latitude "Destination Latitude received over Bluetooth";
CM_ SG_ 220 SENSOR_BT_COORDINATES_longitude "Destination Longitude received over Bluetooth";

CM_ SG_ 300 GEO_DEGREE_current "Current Geo Degree relative to true north";
CM_ SG_ 300 GEO_DEGREE_required "Calculated Geo Degree computed by Haversine Formula";

CM_ SG_ 400 DRIVER_STEERING_direction "Calculated Driver Steering values for Motor";
CM_ SG_ 400 DRIVER_STEERING_speed "Calculated Driver speed values for Motor";

CM_ SG_ 500 MOTOR_INFO_rpm "Feedback RPM (speed) sent by Motor";

BA_DEF_ "BusType" STRING ;
BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0;
BA_DEF_ SG_ "FieldType" STRING ;

BA_DEF_DEF_ "BusType" "CAN";
BA_DEF_DEF_ "FieldType" "";
BA_DEF_DEF_ "GenMsgCycleTime" 0;

BA_ "GenMsgCycleTime" BO_ 100 1000;
BA_ "GenMsgCycleTime" BO_ 200 50;

BA_ "FieldType" SG_ 100 DRIVER_HEARTBEAT_cmd "DRIVER_HEARTBEAT_cmd";
BA_ "FieldType" SG_ 101 SENSOR_HEARTBEAT_cmd "SENSOR_HEARTBEAT_cmd";
BA_ "FieldType" SG_ 102 GEO_HEARTBEAT_cmd "GEO_HEARTBEAT_cmd";
BA_ "FieldType" SG_ 103 MOTOR_HEARTBEAT_cmd "MOTOR_HEARTBEAT_cmd";


VAL_ 100 DRIVER_HEARTBEAT_cmd 2 "DRIVER_HEARTBEAT_cmd_REBOOT" 1 "DRIVER_HEARTBEAT_cmd_SYNC" 0 "DRIVER_HEARTBEAT_cmd_NOOP" ;
VAL_ 101 SENSOR_HEARTBEAT_cmd 2 "SENSOR_HEARTBEAT_cmd_REBOOT" 1 "SENSOR_HEARTBEAT_cmd_SYNC" 0 "SENSOR_HEARTBEAT_cmd_NOOP" ;
VAL_ 102 GEO_HEARTBEAT_cmd 2 "GEO_HEARTBEAT_cmd_REBOOT" 1 "GEO_HEARTBEAT_cmd_SYNC" 0 "GEO_HEARTBEAT_cmd_NOOP" ;
VAL_ 103 MOTOR_HEARTBEAT_cmd 2 "MOTOR_HEARTBEAT_cmd_REBOOT" 1 "MOTOR_HEARTBEAT_cmd_SYNC" 0 "MOTOR_HEARTBEAT_cmd_NOOP" ;


Motor 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>


Geological 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>


Sensor [Bridge and Sensor 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>


Bridge [Bridge and Sensor Controller]

<Picture and link to Gitlab>

Bridge functionality of the Bridge and Sensor Controller is to establish wireless communication between the SJ-2 Board and the android mobile device using the HC-05 Bluetooth module. The Bridge controller will be receiving start command with destination geo coordinates and stop command. The Bridge controller will be transmitting the required sensor data and debug information to be displayed on the android application.

Hardware Design

Bridge Diagram

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>


Driver [Driver and LCD 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>


LCD [Driver and LCD 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>


Android Application

<Picture and link to Gitlab>

Software Design

Android Application Flowchart

<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

Motor Controller

Geological Controller

Bridge and Sensor Controller

Driver and LCD Controller

Android

Hardware Integration

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