F15: TopGun
Contents
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.
Project Title
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
Motor & I/0 Controller:
- Anuj Korat
- Dhruv Kakadiya
Communication Bridge & Android Controller:
- Anush Shankar
- Aditya Devaguptapu
Geographical Controller:
- Chitrang Talaviya
- Navjot Singh
Master Controller:
- Hemanth Konanur Nagendra
- Akshay Vijaykumar
Sensor Controller:
- Divya Dodda
- Dhruv Kakadiya
Treasurer:
- Anuj Korat
Schedule
Show a simple table or figures that show your scheduled as planned before you started working on the project. Then in another table column, write down the actual schedule so that readers can see the planned vs. actual goals. The point of the schedule is for readers to assess how to pace themselves if they are doing a similar project.
Team Schedule
| SI No. | Start Date | End Date | Task | Status | Actual Completion Date |
|---|---|---|---|---|---|
| 1 | 09/15/2015 | 09/27/2015 |
|
Completed | 09/27/2015 |
| 2 | 09/27/2015 | 10/30/2015 | Following up on RC car and other component procurement through team discussions | Completed | 10/30/2015 |
| 3 | 10/30/2015 | 10/06/2015 | Hardware design of the car including discussions on component placement, soldering and wiring. | Completed | 10/06/2015 |
| 4 | 10/06/2015 | 10/17/2015 | CAN message ID's, priorities, data size and format proposals for all the possible CAN messages on the bus | Completed | 10/20/2015 |
| 5 | 10/20/2015 | 11/05/2015 | Discussions and proposals on basic obstacle avoidance algorithm with sensor integration, hands on and testing | Completed | |
| 6 | 11/05/2015 | 11/25/2015 | Integrating other modules and components to the RC car, development of autonomous driving algorithm and finalize on hardware layout of the car | Incomplete | |
| 7 | 11/25/2015 | 12/15/2015 | Testing the RC car in real world environments | Incomplete |
Motor & I/O Controller Schedule
| SI No. | Start Date | End Date | Task | Status | Actual Completion Date |
|---|---|---|---|---|---|
| 1 | 09/20/2015 | 09/27/2015 | Researching and ordering the LCD module to be used in the project | Completed | 9/27/2015 |
| 2 | 09/27/2015 | 10/05/2015 |
|
Completed | 10/05/2015 |
| 3 | 10/05/2015 | 10/12/2015 |
|
Completed | 10/12/2015 |
| 4 | 10/12/2015 | 10/30/2015 |
|
Completed | |
| 5 | 10/30/2015 | 11/12/2015 | Proposals related to speed controls and sensors for the same and integration of LCD module(with data display) | Incomplete | |
| 6 | 11/12/2015 | 11/25/2015 | CAN bus communication from motor and I/O controller to other boards | Completed | |
| 7 | 11/25/2015 | 12/15/2015 | Debugging issues during trial runs and testing out fault cases | Incomplete |
Communication bridge & Android Controller Schedule
| SI No. | Start Date | End Date | Task | Status | Actual Completion Date |
|---|---|---|---|---|---|
| 1 | 09/20/2015 | 09/30/2015 | Getting familiarized with Android SDK, Java, Bluetooth API and Google Maps API | Completed | 09/30/2015 |
| 2 | 09/31/2015 | 10/10/2015 |
|
Completed | 10/10/2015 |
| 3 | 10/10/2015 | 10/22/2015 |
|
Completed | 10/22/2015 |
| 4 | 10/22/2015 | 10/30/2015 | Interfacing bluetooth module to SJOne board through UART and receive data on SJOne board sent by the bluetooth application | Incomplete | |
| 5 | 10/30/2015 | 11/10/2015 | Relay commands and CAN messages from SJOne to android application and test correctness of data | Incomplete | |
| 6 | 11/10/2015 | 11/22/2015 | Performing correct routing between source and destination, have a complete working application, basic testing of application and bridge interface | Incomplete | |
| 7 | 11/22/2015 | 12/15/2015 | Extensive Testing of application during final phases, modifying code in cooperation with other teams and optimization of android application | Incomplete |
Geographical Controller Schedule
| SI No. | Start Date | End Date | Task | Status | Actual Completion Date |
|---|---|---|---|---|---|
| 1 | 09/20/2015 | 09/27/2015 | Researching and ordering the parts | Completed | 9/27/2015 |
| 2 | 09/27/2015 | 10/05/2015 | Studying module data sheets and writing code sketches to be used when modules are procured(GPS and compass) | Completed | 10/05/2015 |
| 3 | 10/05/2015 | 10/15/2015 | Interfacing GPS module and compass to SJOne board and get consistent filtered readings | Incomplete | |
| 4 | 10/15/2015 | 10/30/2015 | Proposals for heading and distance calculation, unit testing and integrating modules | Incomplete | |
| 5 | 10/30/2015 | 11/10/2015 | Calibration of compass and GPS readings, CAN bus communication from geo controller to other boards | Incomplete | |
| 6 | 11/10/2015 | 11/25/2015 | Android application connection with data reception and transmit | Incomplete | |
| 7 | 11/25/2015 | 12/15/2015 | Final phase testing and optimization, collaborating with android team to get better reliable outcomes | Incomplete |
Sensor Controller Schedule
| SI No. | Start Date | End Date | Task | Status | Actual Completion Date |
|---|---|---|---|---|---|
| 1 | 09/20/2015 | 09/27/2015 | Researching and ordering the sensors to be used in the project | Completed | 9/27/2015 |
| 2 | 09/27/2015 | 10/03/2015 |
|
Completed | 10/03/2015 |
| 3 | 10/03/2015 | 10/10/2015 | Interfacing ADC ultrasonic sensor to SJOne board, reading sensor values and filter the readings | Completed | 10/10/2015 |
| 4 | 10/10/2015 | 10/20/2015 | Understanding inertial measurement unit sensor, interfacing it to SJOne board to get filtered readings | Completed | 10/20/2015 |
| 5 | 10/20/2015 | 11/05/2015 | Integrating multiple sensors to the SJOne board, testing the sensors and debugging issues | Incomplete | |
| 6 | 11/05/2015 | 11/25/2015 | Preparing sensor values to be sent over CAN bus and testing out the correctness of sensor can messages | Incomplete | |
| 7 | 11/25/2015 | 12/15/2015 | Testing of code during final phases, modifying code in cooperation with other teams and optimization of code | Incomplete |
Parts List & Cost
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.
CAN Message ID Table
| Message ID | Task associated with ID | Data bit-fields |
|---|---|---|
| 0x00 | Kill Switch | No Data |
| 0x01 | Reset |
reset_motorio:8; // Acknowledge motorio controller reset_sensor:8; // Acknowledge sensor controller reset_geo:8; // Acknowledge geo controller reset_bluetooth:8; // Acknowledge bluetooth module |
| 0x02 | Master Sync Ack |
ack_motorio:8; // Acknowledge motorio controller ack_sensor:8; // Acknowledge sensor controller ack_geo:8; // Acknowledge geo controller ack_bluetooth:8; // Acknowledge bluetooth module |
| 0x03 | MotorIO Controller Sync | No Data |
| 0x04 | Sensor Controller Sync | No Data |
| 0x05 | Bluetooth Controller Sync | No Data |
| 0x06 | Geo Controller Sync | No Data |
| 0x07 | MotorIO controller Heart-beat | No Data |
| 0x08 | Sensor controller Heart-beat | No Data |
| 0x09 | Bluetooth controller Heart-beat | No Data |
| 0x0A | Geo controller Heart-beat | No Data |
| 0x0B | Run mode | mode:8; |
| 0x0C | Distance Sensor Data |
front_left:8; // Front left sensor reading front_right:8; // Front right sensor reading front_center:8; // Front centre sensor reading left:8; // Left sensor reading right:8; // Right sensor reading back:8; // Back sensor reading |
| 0x0D | MotorIO Direction Data |
speed:8; // Indicate speed for DC motor turn:8; // Indicate turn angle for servo motor |
| 0x0E | Check-point Request Message | No Data |
| 0x0F | Check-point Start Message |
num_of_points; // Number of check-points to be loaded |
| 0x10 | Check-point Data |
float latitude; float longitude; |
| 0x11 | Geo-Controller New Destination Data |
float latitude; float longitude; |
| 0x12 | Geo-Controller Speed and Angle message |
speed:8; // Speed as measured by the GPS sensor heading:16; // Heading from the Geo controller bearing:16; // Bearing calculated by the Geo controller |
| 0x13 | Geo-Controller Location Data |
float latitude; float longitude; |
| 0x14 | Light and Battery Sensor Data |
light_sensor:8; // Light sensor reading batt_sensor:8; // Battery level sensor reading |
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.
Sensor Testing
HCSR04 Sensor Testing
- As shown in the figure below, HC-SR04 ultrasonic sensor requires an external 5V DC supply.
- When in the initial testing stage we just connected one sensor for testing the accuracy and the range of the sensor.
- The values we received were very stable and neat.
Finalizing an sensor
- Both sensors being pretty accurate, we were confused while finalizing one. So we were using both sensors, for front we were using Parallax and for left,right and back sensors we were using HCSR04 sensor.
- HCSR04 sensor was better option because as it was much cost efficient than the Parallax Ping Sensor (Where one Parallax Ping costs $30, one HCSR04 costed us only $2)
- Its only drawback is, the cheaper one sensor needed good filter to remove some spikes and Parallax sensor was working pretty good without any filtering.
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:
My Issue #1
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.
