F14: Team2-Self Driving Car - AUG

Team Members & Responsibilities

• Sensor Controller
  • Amey Patil
  • Sujith Durgad
  • Arvind Allawadi

• Motor Controller and Power
  • Digvijay Patil
  • Rohan Jani
  • Mahesh Chudasama

• Display
  • Mradula Nayak
  • Karthik Govindaswamy

• Communication Bridge + Android
  • Siddhata Patil
  • Mohammed Raashid Kheruwala

• Geographical Controller
  • Yash Parulekar
  • Ajinkya Khasnis
  • Harsh Lavingia
  • Anand Dumbre

• Master Controller
  • Pradyumna Upadhya
  • Huzefa Siyamwala

Schedule

Common Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	9/16/2014	10/7/2014	Finish Ordering project hardware parts	Completed.	TBD
2	10/5/2014	10/21/2014	Fine tune subscriber code	Completed	10/28/2014
3	10/7/2014	10/21/2014	Finish Development of CAN Transceiver boards	Completed	10/25/2014
4	10/5/2014	11/4/2014	Sub teams finalize and implement dependency code(atleast single API per team)	Completed	10/28/2014
5	10/5/2014	10/28/2014	Finish hardware	Completed	10/27/2014
6	10/28/2014	12/2/2014	Start integration and testing.	Scheduled	TBD

Master Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	9/30/2014	10/21/2014	Fine tune subscriber code and finalize CAN apis required from other boards	Completed	Completed on 10/21/2014
2	10/5/2014	10/21/2014	Fine tune subscriber code	Completed	Completed on 10/27/2014
3	10/5/2014	10/21/2014	Develop CAN Transceiver Board	Completed	Completed by 10/19/2014
4	10/5/2014	11/4/2014	Implement API co-ordination logic and test with other boards APIs	Ongoing	Master - motor/sensor communication apis has been completed. Integration of these three modules going on
5	10/21/2014	10/28/2014	Test hardware with master code and motor code.	10/26/2014	Master and motor has been integrated.
6	10/21/2014	11/4/2014	Integrate master with motor and sensor.	Ongoing	Integration is not fully complete. It is going on.
6	10/28/2014	11/11/2014	Integrate master ,motor,sensor with andriod.	Scheduled	TBD
7	10/28/2014	11/11/2014	Integrate master with display.	Scheduled	TBD
7	10/4/2014	11/11/2014	Integrate master with compass and gps.	Scheduled	TBD
7	11/4/2014	11/18/2014	Fix integration bugs and fine tune boards initialization and communication.	Scheduled	TBD
8	11/11/2014	11/28/2014	Implement car movement logic as per GPR/COMPASS/Sensor data.	Scheduled	TBD
9	11/28/2014	12/09/2014	Test hardware/software to remove bugs and fine tune algorithm.	Scheduled	TBD

GEO Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	9/16/2014	9/23/2014	Decided and then ordered GPS modem Received Compass module	Completed	9/23/2014
2	9/23/2014	9/30/2014	Acquired GPS modem Interface Compass with SJOne Board via I2C	Completed	9/30/2014
3	9/30/2014	10/7/2014	Designing GPS driver Test code to get compass heading information	OnGoing Completed	TBD
4	10/7/2014	10/21/2014	Integration of GPS with the main board CAN RX task and subscription handling	In Progress	TBD
5	10/21/2014	11/04/2014	Test communication with the Master Determine final heading using GPS location and compass reading	Scheduled	TBD
6	11/04/2014	11/18/2014	Test and debug, Make necessary changes in the driver Compass Calibration	Scheduled	TBD

Motor Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	9/30/2014	10/7/2014	Understand the SERVO and DC motor controller signals	Completed	10/4/2014
2	10/4/2014	10/11/2014	Interface SJSU one board to SERVO and DC motor controller	Completed	10/10/2014
3	10/7/2014	10/18/2014	Develop CAN transceiver boards	Completed	10/12/2014
4	10/12/2014	10/26/2014	Design and Develop unified power distribution circuit and hardware structure for RC car	Ongoing	Power unit got burnt, working on new design
5	10/19/2014	11/03/2014	Interface motor SJSU board with master SJSU board for motion tuning	Ongoing	TBD
6	10/26/2014	11/07/2014	Redesign mechanical structure and fix wiring issue	Ongoing	TBD
7	10/19/2014	11/07/2014	Work on shaft encoder for motor speed feedback	Ongoing	TBD
8	11/01/2014	11/11/2014	Work with other teams to establish reliable CAN communication.	Scheduled	TBD
9	11/07/2014	11/30/2014	Fine tuning of turning curves, jerks, acceleration and deceleration algorithm.	Scheduled	TBD
10	11/07/2014	11/20/2014	Implement Zigbee communication for long range data logging.	Scheduled	TBD

I/O Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	9/16/2014	9/23/2014	Decided and then ordered display module	Completed	9/23/2014
2	9/24/2014	10/7/2014	Setting up the GIT	Completed	10/14/2014
3	10/7/2014	10/14/2014	Basic display on LCD with UART interface	Completed	10/23/2014
4	10/14/2014	10/28/2014	CAN communication between Master and I/O	On Going	TBD
5	10/28/2014	10/31/2014	CAN communication between I/O and sensor	Scheduled	TBD
6	10/31/2014	11/4/2014	CAN communication between I/O and GPS,Hardware for headlights and interface with the board	Scheduled	TBD
7	11/5/2014	11/9/2014	Button for start and stop on I/O	Scheduled	TBD
8	11/9/2014	11/15/2014	Mount LCD, headlights, board on CAR and Final testing	Scheduled	TBD

Communication Bridge + Android Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	9/16/2014	9/23/2014	Design UI of the Android App	Completed	9/23/2014
2	9/23/2014	9/30/2014	Interface and pairing the Android App with Bluetooth module	Completed	9/30/2014
3	9/30/2014	10/7/2014	Implementation of first stage of Android App (Frame 1: Sending data via Bluetooth to give directions for the car)	Completed	10/4/2014
4	10/7/2014	10/14/2014	Implementation of second stage of Android App (Bridge between Android, UART and Master)	Completed	10/16/2014
5	10/14/2014	10/28/2014	Implementation of second stage of Android App (Frame 2: collecting reliable sensor data(8 ultrasonic and gps coordinates on .csv file) )	Completed	10/28/2014
6	10/28/2014	11/11/2014	Implementation of third stage of Android App (Frame 3: Navigation using markers and CLL coordinate system)	Completed	11/15/2014
7	11/11/2014	11/25/2014	Testing and improving the UI of to the App	Completed	11/25/2014

Sensor Controller

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	10/3/2014	10/10/2014	Developing a Test code for sensors	Completed	10/14/2014
2	10/10/2014	10/17/2014	Finalizing on the sensors	Completed	10/14/2014
3	10/17/2014	10/24/2014	Transfer of sensor data via can bus to master	Completed	10/21/2014
4	10/24/2014	10/30/2014	Implementation with multiple sensors	Ongoing	TBD
5	10/30/2014	11/6/2014	Implementation of Light Sensors and Tilt Sensor	Scheduled	TBD

Parts List & Cost

Qty	Description	Manufacturer	Part Number	Total Cost
6	Ultra Sonic Sensor	Arduino	HC-SR04	12.58
1	Compass Module	Honeywell	HMC6352	Provided By Preet
1	GPS Receiver	MediaTek	LS20031 5Hz (66 Channel)	$59.95
1	RC car	Traxxas	1/10	$272
1	Bluetooth module	SunFounder	HC-06	$7.99

Backup Parts & cost

Qty	Description	Manufacturer	Part Number	Total Cost

Design & Implementation

Controller Communication Table

Controller ID Table

Controller ID	Controller
0x050	Master Controller
0x051	Geographical Controller
0x052	Motor Controller
0x053	Sensor Controller
0x054	IO Controller
0x055	App/Bridge Controller

Common MessageID Table

MessageID	Description	ResponseID	Description
0x110	Get Board Status	0x52A	Send Board Status (Response of 0x42A )
0x111	Get Board Time	0x211	Present Board Time (Response of 0x111)
		0x213	Board's New Data (Response of 0x315)

Master Controller MessageID Table

SubscribeID	Description	PublishID	Description
0x42A	Subscribe to new motor data to be set	0x52A	Publish motor data (Response of 0x42A )
0x44A	Subscribe to new input/output data	0x54A	Publish data to be displayed (Response of 0x44A )
0x45C	Subscribe to reliable sensor value (sensor data from sensor through master)	0x55C	Publish reliable sensor value (Response of 0x45C)
0x45D	Subscribe to current location data (GPS data from Master through GPS)	0x55D	Publish current location data (Response of 0x55D)
0x44A	Subscribe to display data (api to be used by display to get new display data)	0x54A	Publish new display data (Response of 0x54A)
Master Specific MessageID	Description	ResponseID	Description
0x311	SetTime (master specific command)
0x312	Start (master specific command)
0x313	Stop (master specific command)

Geographical Controller MessageID Table

SubscribeID	Description	PublishID	Description
0x40C	Subscribe to Compass Data	0x50C	Publish Compass Data (Response of 0x40C )
0x40B	Subscribe to GPS Data	0x50B	Publish GPS Data (Response of 0x40B )
0x40A	Subscribe to Geographical Data	0x50A	Publish Geographical Data (Response of 0x40A )

Motor Controller MessageID Table

SubscribeID	Description	PublishID	Description
0x40A	Subscribe to Motor Data	0x50A	Publish Motor Data (Response of 0x40A)
0x40B	Subscribe to Motor Speed	0x50B	Publish Motor Speed (Response of 0x40B)
0x40C	Subscribe to Motor Direction	0x50C	Publish Motor Direction (Response of 0x40C)

Sensor Controller MessageID Table

SubscribeID	Description	PublishID	Description
0x40A	Subscribe to Sensor Data	0x50A	Publish Sensor Data (Response of 0x40A)
0x44A	Subscribe to Sensor Data(I/O unit subscribes	0x54A	Publish Sensor Data (Sends data to I/O unit)

IO Controller

SubscribeID	Description	PublishID	Description
0x40A	Subscribe to IO Data	0x50A	Publish IO Data (Response of 0x40A)

Android and Bridge

SubscribeID	Description	PublishID	Description
0x45A	Subscribe Start/Stop command(IO data to Master)	0x55A	Publish "start" message (response of 0x312)
0x45B	Subscribe GPS longitude and latitude (Android GPS data to Master)	0x55B	Publish current location (response of 0x45D)

Design and Implementation : Android and Bridge

Complete System Diagram for Android communication

The above System Diagram shows the overall connection of the SJOne board and the HC06 bluetooth module. The module has 4 pins labeled on the back, VCC, GND, TXD and RXD. You might buy a module with two more pins KEY and STATE but it won't matter if you leave them open. The communication for configuration of the module is based on AT commands. There is one command for every thing, to set the device name, set the pin, set the baud rate and much more. All you have to do is to save these AT commands in the form of string and send each byte serially to the module using a simple for loop. Initially the baud rate is set to 9600. Following table shows few of the AT commands which you may require.

Command	Response	Use
AT	OK	Used to verify communication
AT+NAMExyz	OKsetname	Sets the module name to “xyz”
AT+PIN1234	OKsetPIN	Sets the module PIN to 1234
AT+BAUD1	OK1200	Sets the baud rate to 1200
AT+BAUD2	OK2400	Sets the baud rate to 2400
AT+BAUD3	OK4800	Sets the baud rate to 4800
AT+BAUD4	OK9600	Sets the baud rate to 9600
AT+BAUD5	OK19200	Sets the baud rate to 19200
AT+BAUD6	OK38400	Sets the baud rate to 38400
AT+BAUD3	OK4800	Sets the baud rate to 4800
AT+BAUD4	OK9600	Sets the baud rate to 9600

This bluetooth module requires 5V. Its Rx is connected to Tx of SJOne board and its Tx is connected to Rx of SJOne board with a common ground. We need bluetooth module in order to establish communication between the SJOne board and the Android Phone. In order to do this, code for bluetooth pairing, connecting and transmitting was thus written on Android SDK. There are three main tasks on the Android side : 1. To send location coordinates (latitude and longitude) to GPS. 2. To transmit "START" signal to the master. 3. To transmit "STOP" signal to the master. At the receiver, this data will be received by the Bluetooth Module and provided to SJOne(Android board) via UART. Then via CAN communication its passed on to the Master and GPS boards.

Testing & Technical Challenges

Sl. No	Test Case	Test Description	Result

References

References Used

1. Preetpal Kang, Lecture notes of CMPE 243, Computer Engineering, Charles W. Davidson College of Engineering, San Jose State University, Aug-Dec 2014.
2. en.wikipedia.org/