F17: Vindicators100

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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

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

  • Sameer Azer
    • Project Lead
    • Sensors
    • Quality Assurance
  • Kevin Server
    • Unit Testing Lead
    • Control Unit
  • Delwin Lei
    • Sensors
    • Control Unit
  • Harmander Sihra
    • Sensors
  • Mina Yi
    • DEV/GIT Lead
    • Drive System
  • Elizabeth Nguyen
    • Drive System
  • Matthew Chew
    • App
    • GPS/Compass
  • Mikko Bayabo
    • App
    • GPS/Compass
  • Rolando Javier
    • App
    • GPS/Compass

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.

Sprint# End Date Plan Actual
1 10/10 App(HL reqs, and framework options);

Master(HL reqs, and draft CAN messages);

GPS(HL reqs, and component search/buy);

Sensors(HL reqs, and component search/buy);

Drive(HL reqs, and component search/buy);

App(Angular?);

Master(Reqs identified, CAN architecture is WIP);

GPS(UBLOX M8N);

Sensors(Lidar: 4UV002950, Ultrasonic: HRLV-EZ0);

Drive(Motor+encoder: https://www.servocity.com/437-rpm-hd-premium-planetary-gear-motor-w-encoder, Driver: Pololu G2 24v21, Encoder Counter: https://www.amazon.com/SuperDroid-Robots-LS7366R-Quadrature-Encoder/dp/B00K33KDJ2);

2 10/20 App(Further Framework research);

Master(Design unit tests);

GPS(Prototype purchased component: printf(heading and coordinates);

Sensors(Prototype purchased components: printf(distance from lidar and bool from ultrasonic);

Drive(Prototype purchased components: move motor at various velocities);

App();

Master(Unit tests passed);

GPS(GPS module works, but inaccurate around parts of campus. Compass not working. Going to try new component);

Sensors(Ultrasonic works [able to get distance reading over ADC], Lidar doesn't work with I2C driver. Need to modify I2C Driver);

Drive(Able to move. No feedback yet.);

3 10/30 App(Run a web server on ESP8266);

Master(TDD Obstacle avoidance);

GPS(Interface with compass);

Sensors(Interface with Lidar);

Drive(Interface with LCD Screen);

App(web Server running on ESP8266, ESP8266 needs to "talk" to SJOne);

Master(Unit tests passed for obstacle avoidance using ultrasonic);

GPS(Still looking for a reliable compass);

Sensors(I2C Driver modified. Lidar is functioning. Waiting on Servo shipment and more Ultrasonic sensors);

Drive(LCD Driver works using GPIO);

4 11/10 App(Manual Drive Interface, Start, Stop);

Master(Field-test avoiding an obstacle using one ultrasonic and Lidar);

GPS(TDD Compass data parser, TDD GPS data parser, Write a CSV file to SD card);

Sensors(Interface with 4 Ultrasonics [using chaining], Test power management chip current sensor, voltage sensor, and output on/off, Field-test avoiding an obstacle using 1 Ultrasonic);

Drive(Servo library [independent from PWM Frequency], Implement quadrature counter driver);

App(Cancelled Manual Drive, Start/Stop not finished due to issues communicating with ESP);

Master(Field-test done without Lidar. Master is sending appropriate data. Drive is having issues steering.);

GPS(Done.);

Sensors(Done, except for being able to use an ADC MUX for the ultrasonics.);

Drive(Done.);

5 11/20 App(Send/receive GPS data to/from App);

Master(Upon a "Go" from App, avoid multiple obstacles using 4 ultrasonics and a rotating lidar);

GPS(TDD Compass heading and error, TDD GPS coordinate setters/getters, TDD Logging);

Sensors(CAD/3D-Print bumper mount for Ultrasonics, CAD/3D-Print Lidar-Servo interface. Servo-Car interface);

Drive(Implement a constant-velocity PID, Implement a PID Ramp-up functionality to limit in-rush current);

App();

Master();

GPS();

Sensors();

Drive();

6 11/30 App(App-Nav Integration testing: Send Coordinates from App to GPS);

Master(Drive to specific GPS coordinates);

GPS(App-Nav Integration testing: Send Coordinates from App to GPS);

Sensors(Field-test avoiding multiple obstacles using Lidar & Ultrasonics);

Drive(Interface with buttons and headlight);

App();

Master();

GPS();

Sensors();

Drive();

7 12/10 App(Full System Test w/ PCB);

Master(Full System Test w/ PCB);

GPS(Full System Test w/ PCB);

Sensors(Full System Test w/ PCB);

Drive(Full System Test w/ PCB);

App();

Master();

GPS();

Sensors();

Drive();

8 12/17 App(Full System Test w/ PCB);

Master(Full System Test w/ PCB);

GPS(Full System Test w/ PCB);

Sensors(Full System Test w/ PCB);

Drive(Full System Test w/ PCB);

App();

Master();

GPS();

Sensors();

Drive();

Parts List & Cost

Part # Part Name Purchase Location Quantity Cost per item
1 SJOne Board Preet 6 $80/board
2 1621 RPM HD Premium Gear Motor Servocity 1 $60
3 20 kg Full Metal Servo Amazon 1 $18.92
4 Maxbotix Ultrasonic Rangefinder Adafruit 4 $33.95
5 Analog/Digital Mux Breakout Board RobotShop 1 $4.95
6 Power Management IC Development Tools Mouser 1 $8.63
7 eBoot Mini MP1584EN DC-DC Buck Converter Amazon 1 $9.69

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.

Power Control

Drive

Sensors

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.

243.dbc 

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 SENSORS CONTROL_UNIT DRIVE APP NAV

BO_ 100 COMMAND: 1 DBG
 SG_ ENABLE : 0|1@1+ (1,0) [0|1] "" DBG

BO_ 200 FRONT_SENSORS: 2 SENSORS
 SG_ ULTRASONIC_SENSOR : 0|12@1+ (1,0) [0|0] "mm" CONTROL_UNIT

BO_ 123 DRIVE_CMD: 3 CONTROL_UNIT
 SG_ steer_angle : 0|12@1- (0.1,0) [-45|45] "degrees" DRIVE
 SG_ speed : 12|6@1+ (0.1,0) [0|5] "mph" DRIVE
 SG_ direction : 18|1@1+ (1,0) [0|1] "" DRIVE
 SG_ headlights : 19|1@1+ (1,0) [0|1] "" DRIVE

BO_ 122 SENSOR_CMD: 2 CONTROL_UNIT
 SG_ lidar_zero : 0|16@1+ (0.1,0) [0|360] "degrees" SENSORS

BO_ 121 GPS_POS: 8 NAV
 SG_ ns_axis : 0|1@1+ (1,0) [0|1] "" APP
 SG_ latitude : 1|31@1+ (0.01,0) [0|90] "degrees" APP
 SG_ we_axis : 32|1@1+ (1,0) [0|1] "" APP
 SG_ longitude : 33|31@1+ (0.01,0) [0|180] "degrees" APP

BO_ 146 GPS_HEADING: 3 NAV
 SG_ current : 0|9@1+ (1,0) [0|359] "degrees" APP,CONTROL_UNIT
 SG_ projected : 10|9@1+ (1,0) [0|359] "degrees" APP,CONTROL_UNIT

BO_ 124 DRIVE_FEEDBACK: 1 DRIVE
 SG_ velocity : 0|6@1+ (0.1,0) [0|0] "mph" CONTROL_UNIT
 SG_ direction : 6|1@1+ (1,0) [0|1] "" CONTROL_UNIT

BO_ 243 APP_WAYPOINT: 8 APP
 SG_ ns_axis : 0|1@1+ (1,0) [0|1] "" CONTROL_UNIT
 SG_ latitude : 1|31@1+ (0.01,0) [0|90] "degrees" CONTROL_UNIT
 SG_ we_axis : 32|1@1+ (1,0) [0|1] "" CONTROL_UNIT
 SG_ longitude : 33|31@1+ (0.01,0) [0|180] "degrees" CONTROL_UNIT

CM_ BU_ DBG "Debugging entity";
CM_ BU_ DRIVE "Drive System";
CM_ BU_ SENSORS "Sensor Suite";
CM_ BU_ APP "Communication to mobile app";
CM_ BU_ CONTROL_UNIT "Central command board";
CM_ BU_ NAV "GPS and compass";

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_ 256 10;
BA_ "GenMsgCycleTime" BO_ 512 10;
BA_ "GenMsgCycleTime" BO_ 768 500;
BA_ "GenMsgCycleTime" BO_ 1024 100;
BA_ "GenMsgCycleTime" BO_ 1280 1000;

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:

Single frequency setting for PWM

Using PWM on the SJOne board only allows you to run all PWM pins at the same frequency.

Difficulties with Quadrature Counter

We had issues getting the quadrature counter to give us valid numbers. Our solution was to use LPC's built-in counter instead of having an extra external component.

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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