F17: Optimus

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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.

Project Title

Optimus - Self Navigating R/C Car powered by SJOne(LPC1758) micro controller

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

  • Revathy
    • CAN controller, Integration/System Testing
  • Unnikrishnan
    • CAN controller, Integration/System Testing
  • Kripanand Jha
    • CAN controller, Integration/System Testing
  • Sneha
    • GPS Controller
  • Sushma
    • Sensor Controller
  • Harshitha
    • Sensor Controller
  • Parimal
    • Android App
  • Rajul
    • Motor Controller, Bluetooth/App Interface
  • Suprajith
    • Sensor controller
  • Sarveash
    • Motor Controller

Schedule

Legend:

Motor Controller , Master Controller , Android Controller, Geo Controller, Sensor and I/O Controller , Team Goal

Week# Date Task Actual Status
1 9/17/2016
  • Purchasing RC car.
  • Purchased RC car.
 Complete.
2 9/24/2016
  • Individual module distribution.
  • Project report setup.
  • Git setup.
  • Order components for individual modules.
  • Members identified for modules.
  • Wikipage project report template and Git were setup.
  • Ordered GPS module and CAN transceivers.
 Complete
3 10/01/2016
  • Define scope of each module.
  • Determine Git flow.
  • Follow up on component procurement.
  • Determining and analyzing the duty cycle for servomotor and DC motor of the car.
  • Implement basic CAN communication CAN between two SJ-One Boards.
  • Initial flow of each module defined.
  • Identified the branches and decided on merge process.
  • Ordered additional ultrasonic sensors and LCD.
  • Tested the car servo and DC motor using Digital Oscilloscope.
  • Observed and noted the duty cycle wave forms .
  • Successfully tested CAN communication between two SJ-One boards.
 Complete
4 10/08/2016
  • Create branches in Git
  • Follow up on component procurement
  • Basic testing of Servo and DC motor.
  • Testing speed of car with variable PWM.
  • Research on the CAN bus, tasks and scheduling.
  • Decision regarding flow of the master controller.
  • Download software for LCD
  • Created Master branch on Git
  • All ordered parts received by 10/07.
  • Implemented test code to interface SJOne board with a servo motor to control the direction and verified the same on the car.
  • Speed testing in progress.
  • Learnt about the working of CAN bus and decided on flow for the master controller.
  • Installed 4D System Workshop4 IDE (for LCD).
 Complete
5 10/15/2016
  • Developing drivers for both motors.
  • Android app prototype.
  • Parse GPS data and format the data to be transmitted.
  • Decision making regarding various messages to be sent on CAN bus.
  • Design basic sensor algorithm for range finding.
  • Algorithm developed for both the motors.
  • Basic App Screen layout designed.
  • GPS latitude & longitude coordinates extracted from NMEA format.
  • Identified various messages for different nodes.
  • Designed basic algorithm for range finding.
Complete
6 10/22/2016
  • Define CAN signals for each module.
  • Testing the car with developed drivers.
  • Interface Bluetooth module with SJ-One board.
  • Implement source code and fetch Magnetometer reading.
  • Design of CAN bus hardware.
  • Test basic working for IR.
  • CAN signals along with their priorities identified (DBC file format generated).
  • Testing for developed motor drivers in progress.
  • Testing of Bluetooth interface in progress.
  • Implemented the Magnetometer source code, Testing in progress.
  • Tested for hardware integrity.
  • Developed algorithm for obstacle detection.
 Complete.
7 10/29/2016
  • Fine tuning motor control code.
  • Transmitting and receiving messages between Android App and SJ-One board.
  • Test the extracted GPS data for consistency and check the update rate.
  • Basic interfacing of master controller with motor module.
  • Integrate IR sensor for gauging speed.
  • Testing in Progress for the motor control code.
  • Successfully established communication interface between app and SJ-one board
  • Latitude and Longitude parsed data tested, observed few NMEA strings with wrong checksum values.
  • Testing in Progress of the interface over CAN bus.
  • Developed algorithm for obstacle detection.
  • Speed sensing was delegated to motor team as suggested by Preet.
Complete.
8 11/05/2016
  • Integration of modules for first demo.
 Integration and Testing completed for the first demo. Complete.
9 11/12/2016
  • Design of Feedback Control mechanism for car.
  • Initial algorithm development of GPS module for heading calculation.
  • Integration of master module with bluetooth module .
  • Develop LCD code for displaying all sensor information and car vitals.
  • Decide upon additional I/O such as lights.
  • Developed algorithm for motor feedback mechanism.
  • Initial algorithm developed for GPS heading calculation and tested.
  • Communication between bluetooth and master module established successfully .
  • Created project in Workshop4 IDE for all elements to be displayed by LCD.
  • Found UART commands to control each element in the LCD display.
  • I/O hardware was decided upon.
 Complete.
10 11/19/2016
  • Speed synchronization of car using speed sensor and testing.
  • Interfacing Android controller with the GPS module
  • Algorithm for distance and heading calculation.
  • Coding and Calibration of GPS module.
  • Interface of master module with I/O module and testing to ensure predicted output.
  • Integrate sensor and I/O code.
  • Integrated speed sensor for calculating the speed and controlling motor speed.
  • Interface of Android controller with the GPS module conducted successfully.
  • Algorithm implemented for distance and heading calculation.
  • Calibration of Magnetometer ongoing.
  • Communication between I/O module and master module established successfully .
  • LCD code completed and sensors adjusted to work in tandem with obstacle avoidance logic.
Complete
11 11/26/2016
  • Testing and debugging for second demo.
  • Integration and testing complete for second demo.
 Complete
12 12/03/2016
  • Fine tuning, debugging and integration.
  • Algorithm to be implemented for Direction: Half Left, Left, Right, Half Right and Straight etc
  • Initial Testing to be done with default hard-coded GPS checkpoint values
  • Fine tuning on Geo, Android and I/O module algorithm.
  • Compass mounted on the car and re-calibration done.
  • Algorithm implemented for steer command.
  • Testing completed with default hard-coded GPS coordinates
  • Calibrated the steer command angle range and the distance offset value while reaching the checkpoint
Complete
13 12/10/2016
  • Final testing and fine tuning
  • Report preparation
  • Final testing done.
Complete

Parts List & Cost

Give a simple list of the cost of your project broken down by components. Do not write long stories here.

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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