S20: Canster Truck

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CAN-STER TRUCK LOGO

CAN-STER TRUCK

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 by 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

The project was divided into N modules:

  • Sensor Controller
  • Motor Controller
  • Geographical
  • Communication Bridge Controller & LCD
  • Android Application and Bluetooth
  • PCB Hardware Integration
  • Testing and Code Review


Team Members & Responsibilities

<Team Picture>

Gitlab Project Link - Can-ster Truck


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
  • Create Slack group and invite Preet
  • Create groups Gitlab 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
  • Complete Bill of Materials
  • Order all other required components
  • 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 environmnet
  • Android: Environmental setup of Android Studio and Enable Version Control
  • Decide PCB Editing Software (Kicad vs Eagle)
  • Draft schematic for required PCB design
  • Completed
  • Completed
  • Completed
  • Pending
  • Pending
6 03/17/2020 03/23/2020
  • Define CAN DBC
  • Create CAD model of PCB
  • Create 3D models for RC mounts
  • Establish final wiki schedule
  • Android: Add a TextView for displaying the Bluetooth connection status in the application.
  • Complete high-level system block diagram
  • Pending
  • Pending
  • Pending
  • Pending
  • Pending
  • Pending
7 03/24/2020 03/30/2020
  • Analyze PCB Model
  • Explore UI designing of LCD
  • Android: Initiate Bluetooth Communication and Send "Hello World".
  • Pending
  • Pending
  • Pending
8 03/31/2020 04/06/2020
  • Order PCB Circuit board
  • 3D print out mount modules
  • Android: Embed Google Maps API for setting the car's destination.
  • Pending
  • Pending
  • Pending
9 04/07/2020 04/13/2020
  • Remove Unused parts from RC Car
  • Mount PCB and 3D Parts
  • Android: Send car location to the app and checkpoints received to Geo module
  • Pending
  • Pending
  • Pending
10 04/14/2020 04/20/2020
  • Incomplete
  • Pending
11 04/21/2020 04/27/2020
  • Integrate all sensors and motors and continuously test the whole system
  • Finalize RC Car For Project Proto 1
  • Pending
  • Pending
12 04/28/2020 05/04/2020
  • April 28th: Project Proto 1
  • Finalize RC Car for Project Demo
  • May 1st: Project Presentation
  • Finalize RC Car for Project Proto 2
  • Pending
  • Pending
13 05/14/2020 05/21/2020
  • Complete Individual Contribution Peer Grading
  • Review and Complete Wiki Project Page
  • Pending
  • Pending


Bill Of Materials

Item# Part Desciption Part Model & Vendor Quantity Cost in USD
1 Microcontroller Boards SJ2 LPC 1758 (Purchased from Preet Kang) 5 $250.00
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 1 $
11 GPS Antenna 1 $
12 LCD Display 4Dsystems 3.2 TFT-LCD ULCD-32PTU 1 $79.00
13 Ultrasonic Sensors 1 (Required:3) $
14 Miscellaneous 1 $


Printed Circuit Board

<Picture and information, including links to your PCB>


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

<Gitlab link to your DBC file> <You can optionally use an inline image>



Sensor ECU

<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>


Motor ECU

<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>


Geographical 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>



Communication Bridge Controller & LCD

<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>


Master Module

<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>


Mobile Application

<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>




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 ===

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