F15: ThunderBird

Abstract

This project features a self-driving RC car, with capabilities that include self-steering between two locations on a map using GPS,obstacle detection & avoidance, displaying various readings on the LCD mounted on the car itself.The locations are provided by an android application which communicates with the car using bluetooth .The car consists of 5 controller modules: Master, Motor, Sensor, GPS/Compass and Communication Bridge & I/O.We use 5 SJOne boards(Cortex-M3 LPC1758) to control the controllers which communicate using CAN bus.

Objectives & Introduction

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Team Members & Responsibilities

• Sravani Aitha
  • Master controller
• James Sushanth Anandraj
  • Master controller
• Rishit Borad
  • GPS
• Dheeraj Dake
  • Motors and I/O
• Nitesh Jain
  • Sensors
• Akhil Bhargav Josyabhatla
  • Motors and I/O
• Rajashree Kambli
  
  • Sensors
• Athavan Kanagasabapathy
  • Master controller
• Vishnu Vardhana Reddy Mandalapu
  • Master controller
• Ravikumar Vanjara
  • GPS

Schedule

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Proposed Schedule

Week	Milestone
October (Week1)	Ordered RC (1:10) Ordered components Created Wiki project and update schedule
October (Week2)	Planned the overall communication design between the controllers. Basic CAN Bus setup on the RC car.
October (Week3)	Complete the base CAN communication. Development of individual modules.
October (Week4)	Basic functional testing of individual modules. Create a base test report.
October (Week5)	Integrate the individual modules and do the basic system test. Building Android Application. Implement release control.
November (Week6)	Testing the prototype of the RC car.
November (Week7)	Unit testing of the code developed.
November (Week8)	Finalize project features
November (Week9)	Testing
December(Week10)	Trial runs and Fixing the issues.
December(Week11)	Project Demonstration

Motor Team and I/O Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	10/6/2015	10/13/2015	Determining the ESC initialization sequence
2	10/13/2015	10/20/2015	Testing the Servo and DC motor using SJ One board PWM's
3	10/20/2015	10/27/2015	Design motor control using messages from the CAN bus
4	10/27/2015	11/3/2015	Implement code to accept messages from other modules over CAN bus and display it on the LCD
5	11/3/2015	11/10/2015	Update motor speeds on the LCD in real time
6	11/10/2015	11/17/2015	Interface I/O and motor modules with master controller and establish communication
7	11/17/2015	11/24/2015	Fine turning motors for precise control
8	11/24/2015	12/01/2015	Fine tuning (buffer)
9	12/01/2015	12/08/2015	Testing and debugging

Parts List & Cost

S.R.	Description	Manufacturer	Part Number	Qty	Total Cost
1	SJOne Board	-	-	5	$400.00
2	RC Car	Furry Arrma - 2 Wheel Drive - 1/10	-	1	$185.00
3	Ultrasonic Sensor	LV-MaxSonar - EZ1	MB1010	5	$140.00
4	1.8 Color TFT LCD display with MicroSD Card Breakout	Adafruit	ST7735R	1	$19.95
5	SparkFun Venus GPS with SMA Connector	Sparkfun	GPS-11058	1	$49.95
6	Triple-axis Magnetometer (Compass) Board	Adafruit	HMC5883L	1	$9.95
7	CAN Transceiver (Free Samples)	Microchip	MCP2551	6	$0.00
	Total (Including Shipping and Taxes				----

Design & Implementation

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Hardware Design

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Hardware Interface

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Software Design

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Implementation

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Testing & Technical Challenges

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My Issue #1

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Conclusion

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Project Video

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Project Source Code

• Sourceforge Source Code Link

References

Acknowledgement

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References Used

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Appendix

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