F17: Alpha

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Project Title

Alpha - Self-navigating RC car using CAN communication based on FreeRTOS.

Git Link - ALPHA
Git Users:

  • Anirudh1313
  • chhavi17
  • DoyalPatel
  • jigar29
  • kthnptl
  • rajvisharia
  • ShubhamKulkarni93
  • SnehaSharma
  • SushmaSJSU
  • SuchetaCiyer

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 Module
    • Jigar Agarwal
    • Sucheta Iyer
  • Motor Module
    • Raj Visharia
    • Shubham Kulkarni
  • GPS/Compass Module
    • Krishna Sai Anirudh Katamreddy
    • Raj Visharia
    • Sushma Macha
  • Sensors
    • Sneha Sharma
    • Sushma Macha
  • Communication Bridge Module
    • Chhavi Mehta
    • Kathan Patel
  • Android Module
    • Doyal Patel
    • Sneha Sharma
  • Testing
    • Doyal Patel
    • Jigar Agarwal
    • Sucheta Iyer

Schedule

Week# Start Date End Date Task Status
1 09/15/2017 09/16/2017
  • Read previous projects, gather information and discuss among the group members.
  • Distribute modules to each team member.
 Completed
2 09/17/2017 10/03/2017
  • Set up individual Git accounts and perform individual git commits on a GIT file.
  • Create a project report template on Wiki.
  • Finalize the scope of each individual modules.
  • Study the datasheet and prepare the high-level design.
  • Order an RC Car (appropriate height and suspension), rechargeable batteries, sensors, GPS and compass module.
  • Understand the high-level design of interfacing the sensors with the board.
 Completed
3 10/04/2017 10/10/2017
  • Motor: Test DC and servo motors using RC Transmitter and Receiver.
  • Sensor: Interface individual sensor and observe the sensor readings under different conditions. Determine pins and architecture of board for all four sensors.
  • GPS and Compass: Understanding the module schematics, connections, and datasheets of GPS and compass.
  • Communication Bridge Controller: Refer previous projects and get an overview of ‘Communication Bridge Controller’. Deciding the Bluetooth module and place orders based on the requirements.
  • Android: Android development environment setup and basic Android application development
  • Master: CAN bus test interface with the sensor.
 Completed
4 10/11/2017 10/17/2017
  • Motor: Get the motors running using SJOne board based on the observation of the PWM waveforms for DC and servo motors on the Oscilloscope.
  • Sensor: Generate a DBC structure and acceptance filter for the sensor, and send the distance of an obstacle if any over the CAN bus. Interface multiple sensors and experiment with the angles of the sensors to have minimum interference.
  • Communication Bridge Controller: Understanding the RFCOMM Protocol for Bluetooth communication and Bluetooth hardware. Configure Bluetooth module using Bluetooth terminal.
  • Android: Work towards enabling Bluetooth in the Android environment and create a basic application for controlling a Bluetooth-enabled phone.
  • Master: Finalizing the PCB design and general hardware model layout. Brainstorming on CAN message details like ID, priority, etc.
 Completed
5 10/18/2017 10/24/2017
  • Complete all the Hardware setup for the project and prepare sensor stands of suitable height (positioned at suitable angle on the car).
  • Motor: Get the motors to move Left, Right, Forward and Reverse through CAN communication from Master module (pressing the switches on Master module).
  • Sensor: Develop an algorithm to trigger all the sensors sequentially i.e., MIDDLE, LEFT, RIGHT, and BACK. Interface sensors with LEDs to indicate the direction to be taken.
  • Communication Bridge Controller: Interfacing Bluetooth module with SJOne board and test the working of the module.
  • Android: Establish basic communication between SJOne and mobile application.
  • Master: Establish CAN communication between all the modules.
 Completed
6 10/25/2017 10/31/2017
  • Motor: Design a robust algorithm to avoid obstacles based on the communication with Master and Sensor modules.
  • Sensor: Calculate minimum and maximum range of obstacle detection and send the values to Master module. Interface the sensors to RC Car and take real-time readings on a moving car
  • GPS and Compass: Interface GPS and Compass to SJOne board using UART and I2C protocol respectively and collect data from GPS
  • Communication Bridge Controller & Android: Bi-directional communication between SJOne board and Android application.
  • Master: Interfacing with the Motor Module and Sensor Module.
 Completed
7 11/01/2017 11/07/2017
  • Motor: Get wheel feedback using RPM sensor values for vehicular movement on the slope.
  • Sensor: Test the obstacle detection algorithm with various obstacles like hard flat surfaces, curved surface etc. Stress test the sensors under different temperatures.
  • GPS and Compass: Integrate GPS module with the compass and calibrating them with SJOne board as per the values obtained. Send Latitude and Longitude of the current position of the car on CAN Bus.
  • Communication Bridge Controller: Interfacing Bluetooth module with the Master module and GPS module over the CAN Bus.
  • Android: Get important data required for the Android application over CAN Bus with the help of the Bluetooth module.
 To Do
8 11/08/2017 11/14/2017
  • Communication Bridge Controller: Interfacing GPS module with the Master and Motor modules over the CAN bus.
  • Android: Add Google map to the application and get current location of the car. Implement an algorithm to find the shortest path by using different position marker on the Google map.
  • Motor, GPS and Compass & Master: Develop an algorithm to calculate the motor angle to move the car based on the current position and next position.
 To Do
9 11/15/2017 11/21/2017
  • Car: Get Destination and Routing Path from the Android app. Develop an algorithm to move the car in the given routing path as well as avoiding the obstacles on its way.
  • Android: Communication between Android application and Master node to pass GPS coordinates and routing details
 To Do
10 11/22/2017 11/29/2017
  • Add additional functionalities and indicators on the car.
  • Integrating RC Car controllers as a single unit. Start with the testing, debugging and optimization process.
 To Do
11 11/30/2017 12/07/2017
  • Completion of the final Wiki page and the report.
To Do
**************Final Demonstration.*************** To Do

Parts List & Cost

Item# Part Desciption Vendor Datasheet Qty Cost
1 RC Car 1
2 CAN Transceivers MCP2551-I/P Microchip [1] MCP2551-I/P Datasheet 8 Free Samples
3 Sonar Sensor Amazon [2] Maxbotix EZ1 MB 1010 Datasheet 4 $24.95
4 Headlights
5 NiMH Battery
6 Charger for NiMH/NiCd Battery
7 Character LCD Display

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

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