S22: TBD

1 Project Title
2 Abstract
- 2.1 Introduction
- 2.2 Team Members & Responsibilities
3 Schedule
4 Parts List & Cost
5 Printed Circuit Board
6 CAN Communication
- 6.1 Hardware Design
- 6.2 DBC File
7 Sensor ECU
8 Motor ECU
9 Geographical Controller
10 Communication Bridge Controller & LCD
11 Master Module
12 Mobile Application
13 Conclusion

Project Title

<TBD>

Abstract

<2-3 sentence abstract>

Introduction

The project was divided into 5 modules:

Sensor
Motor
Geo Controller
Driver/LCD Controller
Web application

Team Members & Responsibilities

Gitlab Project Link - [1]

Sensor
- Brian Ho
- Jasdip Sekhon

Motor
- Billy Lai
- Link to Gitlab user2

Geographical
- Justin Stokes
- Link to Gitlab user2

Communication Bridge Controller & LCD
- Isaac Wahhab
- Link to Gitlab user2

Android Application
- Link to Gitlab user1
- Link to Gitlab user2

Testing Team
- Billy Lai
- Link to Gitlab user2

Schedule

Week#	Start Date	End Date	Task	Status
1	02/15/2022	02/21/2022	Discussed sensors for prototyping, and reviewed previous projects.	Completed
2	02/22/2022	02/28/2022	Ordered Parts	Completed
3	03/01/2022	03/07/2022	Looking at potential options for additional sensors	Completed
4	03/08/2022	03/14/2022	Learning to use CAN BUSMASTER	Completed
5	03/15/2022	03/21/2022	Made prototype for project .dbc file	Completed
6	03/22/2022	03/28/2022	Discuss and learn how to use Eagle for PCB fabrication	Completed
7	03/29/2022	04/04/2022	Parts testing and prototyping	Completed
8	04/05/2022	04/11/2022	List hardware requirements for the PCB fabrication Start research on web application for interfacing with RC car Finalize GPS and sensor testing	Completed
9	04/12/2022	04/18/2022	Order first PCB prototype Design and review PCB prototype Get GEO messages and SENSOR messages to the DRIVER node Continue web application research Find a viable framework and IDE for development Test RC car interfacing Verify wheel control motor on the RC car (can move forward and reverse at various speeds) Verify steering control motor on the RC car (can steer left and right) Integrate GPS and sensors on the same CAN bus using different nodes Integrate ESP32 to BRIDGE node Milestones: Detect an obstacle and command the RC car motor to stop	Completed
10	04/19/2022	04/25/2022	Have a prototype for the web application Test BRIDGE node receiving data from web application Test interacting with the RC car wirelessly Test RC car wheel control from wireless control Test RC car steering control from wireless control Test LCD peripheral and output debug messages Configure and command LCD display	In Progress
11	04/26/2022	05/02/2022	Start creating a mount on the RC car to contain all the hardware Finalize LCD display controlling Display RPM of wheels Display desired direction heading	In Progress
12	05/03/2022	05/09/2022	Brainstorm collision logic for RC controller Handle case for stair obstacle Handle sensor data	Incomplete
13	05/10/2022	05/16/2022	Test collision logic for RC controller Ensure LED lights up when DRIVER logic is taking collision logic branch instead of driving towards destination Finalize the collision logic	Incomplete
14	05/17/2022	05/25/2022	Final testing of full project Verify the SENSOR/BRIDGE node receives data from web application Verify the GEO node receives GPS destination from SENSOR/BRIDGE node Verify the DRIVER node receives GEO status messages Verify the DRIVER node receives SENSOR messages Verify the MOTOR node sends DBG command messages Finalize wiki report Ensure every section is filled	Incomplete

Parts List & Cost

Item#	Part Desciption	Vendor	Qty	Cost
1	RC Car	Redcat Racing [2]	1	$139.00
2	CAN Transceivers (SN65HVD230)	Waveshare [3]	4	$10.00
3	LSM303 Triple-Axis Accelerometer and Magnetometer		1
4	GPS Module		1
5	Ultrasonic Sensors		4
6	PCB		1
7	Plexiglass		1

Printed Circuit Board

CAN Communication

Our message IDs are arranged with priority given to the nodes in the following order: DRIVER, SENSOR, GEO, MOTOR.

We decided to give 32 message IDs to each node and to separate the nodes' message IDs accordingly.

	Node	Message ID Range
1	DRIVER	32 - 63
2	SENSOR	63 - 95
3	GEO	96 - 127
4	MOTOR	128 - 159

Hardware Design

DBC File

Gitlab link to our master branch's DBC file

Our DBC file includes the SENSOR, DRIVER, MOTOR, and GEO nodes.

Below are the messages defined in the file:

BO_ 32 DRIVER_TO_MOTOR_CMD: 1 DRIVER

SG_ DRIVER_TO_MOTOR_steer : 0|3@1+ (1,-2) [-2|2] "" MOTOR
SG_ DRIVER_TO_MOTOR_speed : 3|5@1+ (1,0) [0|31] "RPM" MOTOR

BO_ 64 SENSOR_TO_DRIVER_SONARS: 3 SENSOR

SG_ SENSOR_TO_DRIVER_SONARS_front_left : 0|8@1+ (1,0) [0|0] "" DRIVER
SG_ SENSOR_TO_DRIVER_SONARS_front_middle : 8|8@1+ (1,0) [0|0] "" DRIVER
SG_ SENSOR_TO_DRIVER_SONARS_front_right : 16|8@1+ (1,0) [0|0] "" DRIVER

BO_ 65 GPS_DESTINATION_LOCATION: 8 SENSOR

SG_ GPS_DESTINATION_LOCATION_latitude : 0|28@1+ (0.000001,-90.000000) [-90|90] "Degrees" GEO
SG_ GPS_DESTINATION_LOCATION_longitude : 28|29@1+ (0.000001,-180.000000) [-180|180] "Degrees" GEO

BO_ 96 GEO_STATUS: 5 GEO

 SG_ GEO_STATUS_compass_direction : 0|9@1+ (1,0) [0|359] "Degrees" SENSOR,DRIVER
 SG_ GEO_STATUS_destination_direction : 9|9@1+ (1,0) [0|359] "Degrees" SENSOR,DRIVER
 SG_ GEO_STATUS_distance_to_destination : 18|16@1+ (0.1,0) [0|0] "Meters" SENSOR,DRIVER

BO_ 128 MOTOR_DEBUG_MSG: 1 MOTOR

SG_ MOTOR_DEBUG_MSG_echo_steer : 0|3@1+ (1,-2) [-2|2] "" DBG
SG_ MOTOR_DEBUG_MSG_echo_speed : 3|5@1+ (1,0) [0|31] "RPM" DBG

Sensor ECU

Hardware Design

We used 4 Gravity DFRobot URM09 ultrasonic sensors. These ultrasonic sensors are used by the RC car for the purpose of obstacle avoidance. They use I2C communication to send distance data to the SJ2 microcontroller. The measurement range is 300cm. It takes in 3.3V supply voltage. Using the I2C driver the registers on the ultrasonic sensors were configured and the distance was read from the specified registers in the datasheet.