S23: X Æ A-13

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Project Title

<Team Name>


Abstract

<2-3 sentence abstract>

Introduction

The project was divided into N modules:

  • Sensor ...
  • Motor..
  • ...
  • Android

Team Members & Responsibilities

<Team Picture>

The source code of our car can be found here: X Æ A-13 Gitlab Repository

Team Members

Administrative Roles

Technical Roles

  • Master Controller (Lead)
  • Hardware Integration PCB
  • Testing and Integration
  • Ryan Zelek
  • Motor Controller (Lead)
  • Testing and Integration
  • Master Controller
  • Wiki Report Manager
  • Bill of Materials Manager
  • Android Mobile Application & Bridge Controller (Lead)
  • Hardware Integration PCB
  • Testing and Integration
  • Android Mobile Application & Bridge Controller
  • Motor Controller
  • Testing and Integration
  • Geographic Controller (Lead)
  • Motor Controller
  • Testing and Integration
  • Sensor Controller (Lead)
  • Geographic Controller
  • Testing and Integration
  • Sensor Controller
  • Geographic Controller
  • Testing and Integration



Schedule

Task# Start Date End Date Task Status Point of Contact
1 02/13/2023 02/18/2023
  • Read previous years' projects, gather information, and discuss among the team members.
  • Create a private git fork for the RC car repository.
  • Decide and conclude a recurring team meeting schedule
 Completed Team
2 02/19/2023 02/22/2023
  • Order CAN transceiver modules
 Completed Iftiza
3 03/03/2023 03/10/2023
  • Research several RC Car for the target application
  • Purchase RC Car
 Completed Sharan, Prabhat, Tushara
4 03/11/2023 03/17/2023
  • Create a fork for our project repository.
  • Create a git flow process. Establish a process for merging into the master code repository.
  • Finalize the sensors and other hardware we need for the project.
  • Finalize the best available hardware based on the data collected.
  • To validate communication between CAN nodes via BUSMASTER.
 Completed Team
5 03/18/2023 03/21/2023

Work on the RC Car Infrastructure Task [1]

  • Interface ultrasonic sensors for sensor node
  • Set up the driver node and build the ecosystem for receiving/transmitting CAN messages
  • Develop a base obstacle avoidance logic
  • Set up the motor node and create a fake indication for left/right turn and forward/backward movement to the motor
 Completed
  • Team
  • Iftiza
  • Prabhat, Sharan
  • Sharan
  • Ninaad, Sharan
6 03/22/2023 04/04/2023

Work on the Geo Controller Task [2]

  • Integrate and test the GPS parsing algorithm
  • Validate cross-communication on CAN bus across nodes
  • Hack the PWM signals from the remote to RF receiver
  • Generate the PWM sequence from SJTwo to make the servo and motor move left/right/forward/backward
  • Replace the fake motor actions with actual motor movements which are received from Driver node
  • Try decoding the RF data packets from the remote to RF receiver

Completed

  • Iftiza
  • Team
  • Sharan, Prabhat
  • Sharan, Prabhat
  • Ninaad
  • Tushara
7 04/05/2023 04/18/2023

Work towards the Prototype 1 Task

  • Upgrade obstacle avoidance algorithm
  • Test obstacle avoidance practically (Sensor Node -> Driver -> Motor Node -> Tire movement)
  • Integrate compass module
  • Integrate RPM sensor
  • Integrate LCD module
  • Integrate ESP8266 module
  • Integrate three other ultrasonic sensors
  • Basic mobile app (Transmit data and display on LCD)
  • Simple hardware setup {Power supply, robust CAN wiring, layout, wiring}
  • Validate inter-node communication via CAN over the protoboard
  • Thorough Code Review (MIA, Unit Tests, Dead Code,...)
  • Vist J.J. Customs shop to fix the battery charging issue

Ongoing

  • Team
  • Sharan
  • Ninaad, Sharan, Prabhat
  • Sharan
  • Prabhat
  • Tushara
  • Tushara
  • Prabhat
  • Tushara
  • Iftiza
  • Team
  • Team
  • Sharan, Ninaad
8 04/25/2023 Work towards the Prototype 2 Task
  • Order components ahead for the next task
  • Fine tune obstacle avoidance algorithm to make smoother transitions
  • Add GPS lock LED indicator
  • Implement PID controller and ramp testing
  • Design navigation algorithm
  • Display compass heading on LCD/mobile app
  • Video recording of above
 TBD
  • Team
  • Sharan
  • Anyone
  • Ninaad, Prabhat
  • Iftiza
  • Tushara
  • Anyone
9 04/20/2023 05/02/2023 Work towards the Prototype 3 Task
  • Order components ahead for the next task
  • Fine tune obstacle avoidance
  • Display debug information on LCD (GPS, Sonar, Compass, Distance, Speed,...)
  • Integrate Google Maps API on Mobile App
  • Upgrade the navigation algorithm
  • Setup critical LEDs for displaying MIA faults, GPS lock, sensor o/p
  • Add emergency stop button in HW and mobile app
  • Video recording of above
 TBD
  • Team
  • Sharan
  • Sharan, Tushara
  • Tushara
  • Iftiza
  • Iftiza, Sharan
  • Prabhat, Ninaad
  • Anyone
10 05/03/2023 05/09/2023 Work towards the Prototype 4 Task
  • Order components ahead for the next task
  • Fine-tune obstacle avoidance
  • Mobile application to display destination, and start/stop buttons. Display real-time GPS, compass, and sensor values.
  • Upgrade the navigation algorithm for running in a straight line
  • Design PCB layout
  • Fine-tune PID controller
  • PCB printing and assembly
  • Team demo at Engineering Building: Run the car from point A to point B
  • Video recording of above
 TBD
  • Team
  • Sharan
  • Tushara
  • Iftiza
  • Prabhat, Sharan
  • Ninaad, Prabhat
  • Team
  • Team
  • Anyone
11 05/10/2023 05/24/2023 Work towards the final demo
  • Fine-tune obstacle avoidance
  • Fine-tune mobile app
  • Fine-tune LCD display
  • 3D print and build the car body, painting, beautification,...
  • Features to indicate reverse, obstacle detection, headlights, turn indicator
  • Display ETA to destination
  • Checkpoint navigation
  • Video recording of above
 TBD
  • Sharan
  • Tushara
  • Sharan
  • Prabhat
  • Ninaad
  • Iftiza
  • Team
  • Anyone
12 05/10/2023 05/24/2023 Project Wrap-up
  • Finalize and complete missing document pieces in Wiki
  • Decide on future car ownership and settle finances
  • Team picture and party
 TBD

Team


Parts List & Cost

Item# Part Desciption Vendor Qty Cost
1 RC Car Maverick Quantum MT [3] 1 $180.00
2 RC Car Battery Lithium Polymer Two-Cell 1 $20.0
3 CAN Transceiver Modules SN65HVD230 4 $43.56
4 SJTwo Microcontroller Development Board SJSU 5 $250
5 Ultrasonic Sensor Adafruit SR 100[4] 4 $48.69
6 GPS Module Adafruit PA1616S [5] 1 $32
7 Compass Module CMPS12 - RobotShop [6] 1 $39.77
8 LCD Module LCD1602 [7] 2 $12.02


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.>

Hacking the RF Module

In order to make the RC car autonomous, we had to get rid of the remote control that the car is equipped with. Our car - Maverick Quantum MT does not have its PWM sequence open-sourced. So, we had to get our hands dirty in detecting the PWM signals sent by the RC receiver to the ESC module. Using an oscilloscope, we could identify the duty cycle and frequency corresponding to the servo and motor actions.

TODO: Insert picture of the oscilloscope with signals. Add the duty cycles for various speeds and degrees of servo movement.

Control Unit Direction Frequency (Hz) Duty Cycle (%)
Servo Motor Right Max 61.02 5.9
Left Max 61.02 12.62
Motor Forward Max Speed 61.02 12.65
Idling (Zero) Speed 61.02 9.27
Reverse Max Speed 61.02 5.66

The duty cycle for crawling the car at the slowest speed = 9.47%.

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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