F15: Minion

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Grading Criteria

  • How well is Software & Hardware Design described?
  • How well can this report be used to reproduce this project?
  • Code Quality
  • Overall Report Quality:
    • Software Block Diagrams
    • Hardware Block Diagrams
      Schematic Quality
    • Quality of technical challenges and solutions adopted.

Project Title

Abstract

This section should be a couple lines to describe what your project does.

Objectives & Introduction

Show list of your objectives. This section includes the high level details of your project. You can write about the various sensors or peripherals you used to get your project completed.

Team Members & Responsibilities

Sensor Controller:-

Motor & I/0 Controller:-

Communication Bridge & Android Controller:-

  • Akshay Kanchar
  • Asmita Deshpande

Geographical Controller:-

Master Controller:-

Tester:-

Treasurer:-

  • Keerthanaa Alagudurai

Hardware:-

  • Sudheer Doddapaneni

Release:-

  • Akshay Kanchar

Schedule

Show a simple table or figures that show your scheduled as planned before you started working on the project. Then in another table column, write down the actual schedule so that readers can see the planned vs. actual goals. The point of the schedule is for readers to assess how to pace themselves if they are doing a similar project.

Common Schedule

Sl. No Start Date End Date Task Status Actual Completion Date
1 9/22/2015 9/28/2015 RC Car and important component buying
2 9/29/2015 10/6/2015 1) Algorithm and architecture
2) Setup of car and decision on CAN Id's
3 10/7/2015 10/13/2015 1) Coding and final set-up of car
2) Successful communication of CAN bus.
3) Car in running position.
4 10/14/2015 10/20/2015 Sensor Data gathering and movement according to sensors.
5 10/21/2015 10/27/2015 1) LCD Display working and finalizing the data to be displayed on LCD module.
2) GEO data gathering and controlling of car using Android module.
6 10/28/2015 11/3/2015 Integration of all the modules into one.
7 11/4/2015 11/10/2015 Inclusion of new features in the car.
8 11/11/2015 11/17/2015 Testing depending upon the newly added features.
9 11/18/2015 11/24/2015 Testing of Car and testing the self driving capability
10 11/25/2015 12/1/2015 Testing of Car


Sensor Controller Schedule

Sl. No Start Date End Date Task Status Actual Completion Date
1 9/20/2015 10/5/2015 Study available sensors and place order Completed 10/4/2015
2 10/6/2015 10/13/2015 Collaborate with the other sub teams to finish the CAN bus communication Completed 10/13/2015
3 10/13/2015 10/20/2015 Develop simple test code for the sensors Completed 10/18/2015
4 10/21/2015 10/30/2015 Interface all sensors and develop code for reading all sensors and implement filter for the same
5 10/30/2015 11/2/2015 Positioning of sensors and identifying dead band if any
6 11/2/2015 11/5/2015 Work on light and battery sensor (optional)
7 11/06/2015 12/17/2015 Final testing and debugging


Motor & I/0 Controller Schedule

Sl. No Start Date End Date Task Status Actual Completion Date
1 9/21/2015 9/25/2015 Order LCD Display Completed 9/25/2015
2 9/28/2015 10/3/2015 Going through the motor concepts and PWM Completed 10/2/2015
3 10/4/2015 10/9/2015 Intreface the DC and SERVO Motors with SJONE board Completed 10/8/2015
4 10/10/2015 10/13/2015 Establishing basic CAN communication with other modules Completed 10/13/2015
5 10/11/2015 10/16/2015 Getting the car to run with the PWM signals from Motor controller Completed 10/15/2015
6 10/17/2015 10/23/2015 Research on Speed cotrol method and sensor for the same interface LCD display with LPC1758 via UART
7 10/23/2015 11/4/2015 Establishing reliable CAN communication for IO & Motor with others
8 11/5/2015 11/12/2015 Integrate Speed sensor and get feedback. Start working on start,stop buttons and headlight
9 11/13/2015 11/20/2015 Testing substantial self driving capability of the car
10 11/21/2015 11/30/2015 Complete integration, Debugging and Fine tuning
11 12/1/2015 12/5/2015 Final Validation

Geographical Controller Schedule

Sl. No Start Date End Date Task Status Actual Completion Date
1 09/27/2015 10/07/2015 Ordering Parts and understanding each module Completed 10/11/2015
2 10/07/2015 10/13/2015 CAN Communication with other boards and understanding each module
3 10/07/2015 10/30/2015 Algorithm for distance and heading calculation and coding
4 10/14/2015 10/20/2015 Interfacing of compass(I2C) and GPS (UART) with SJONE board
5 10/20/2015 10/30/2015 Compass,GPS Calibration and Coding
5 10/25/2015 11/15/2015 Individual unit testing
6 10/30/2015 11/30/2015 Interfacing with Android, Master and IO controllers
7 10/30/2015 11/30/2015 Integration Testing,On Car Calibration

Master Controller Schedule

Sl. No Start Date End Date Task Status Actual Completion Date
1 09/30/2015 10/6/2015 a) Design of Algorithm and Architecture for Master Module.
b) Setup of CAN communication between two controllers.
2 10/7/2015 10/13/2015 a) Development of CAN message system for Android, Sensor and GPS, I/O reception.
b) Decide about periodic function frequencies that’ll be handling different modules.
3 10/14/2015 10/20/2015 a) Development of driving,stopping and obstruction avoidance algorithm for motor.
b) Implementation of LED Display to display number of messages on CAN bus.
c) Implementation of turning algorithm as per the data received from the Geo Controller.
4 10/21/2015 10/27/2015 a) Designing of Kill switch with the help of Motor, I/O and Android.
b) Design the system to restore the last known configuration.
c) Implementation to reset modules if the CAN bus reaches BUS off state.
5 10/28/2015 11/3/2015 a) Design of Head Light functionality with the help of Sensor module.
b) Implementation of log files saving to SD card.
6 11/4/2015 11/10/2015 a) Integration of all the modules with Master module and check it after combining everything.
b) Probable implementation of additional features.
7 11/11/2015 11/17/2015 a) Refine the work done earlier.Change areas that need a change.
b) Test the Master module while all the modules are integrated together and list down modifications and additions to be done.
8 11/18/2015 11/24/2015 Testing of system and specially making sure that last week’s shortcomings are taken care of.
9 11/25/2015 12/1/2015 a) Final testing of individual modules.
b) Testing the self-driving capability of the car.
10 12/2/2015 12/8/2015 Final working on the shortcomings in the previous week.
11 12/9/2015 12/15/2015 Final Testing of Car.

Communication Bridge & Android Controller Schedule

Sl. No Start Date End Date Task Status Actual Completion Date
1 9/29/2015 10/06/2015 Ordering bluetooth module and setting up android dev enviornment Completed 10/06/2015
2 10/06/2015 10/13/2015 Implementing basic UI with Start and Stop buttons and testing bluetooth module
3 10/13/2015 10/27/2015 Integrating android app with bluetooth module and SJ One board
4 10/27/2015 11/03/2015 Establishing communication with other modules using CAN and testing Prototype
5 11/03/2015 11/17/2015 Enhancing UI features with Google Maps and display of sensor data from different modules
6 11/17/2015 12/01/2015 Setting up Communication with GPS and Master and prototype testing
7 12/01/2015 12/08/2015 Final app testing

Parts List & Cost

Give a simple list of the cost of your project broken down by components. Do not write long stories here.

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Car Framework and Components

The RC car, Traxxas Stampede, in its raw form consists of a Titan 12T 550 Brushed DC motor, a Servo motor, an XL-5 ESC (Electronic Speed Control) unit, battery and a pre-programmed wireless receiver and controller. The Battery used in the RC car is an 8.4 V, 3000 NiMH from Traxxas. The wireless receiver gets commands from the remote control and drives the motors accordingly, but the DC motor can be controlled only through ESC. 

                                      CmpE243 F15 T2 Car.jpg

The ESC (Electronic Speed Control) unit is an electronic module, which receives PWM signals from the controller and varies speed and direction of the DC motor and also acts as dynamic brakes. ESCs are often used in RC models. The ESC has the capability to provide dynamic braking depending on the mode in which it is being operated.

Motor and I/O Controller

Motor Module

The motor module comprises of a servo motor for the direction control and a DC motor for speed control. The servo motor helps the car in turning left and right where as the DC motor on the other hand helps the car move forward and backward. The motor used in the project is a brushed motor. Conventionally, brushless motors are faster and more efficient than brushed motors. But, the reason for selecting a brushed motor over a brushless motor is that we employ a dedicated battery for the motor such that we do not have any issues with power and efficiency. Moreover, we need not operate the car at high speeds.

The initial task in the motor module is to find the operating ranges of the motor so that we get to know the output signal range and frequency from the SJONE board which would be replacing the pre-programmed controller. The simplest way to find the operating ranges of the motor is to tap and analyze PWM signal that is being supplied to the motor over an oscilloscope. The results as shown in the below pictures indicate that the operating duty cycle of both the motors lie between 10% to 20% and the frequencies at which the motors operate is 100Hz. 

                                     CmpE243 F15 T2 PWM DutyCycle.jpg

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

CAN Communication

Sr. No Message ID Message function Message Data To From
High
1 0x220 Motor Control a.speed
b.Direction
2 0x010 Kill Message Master Android
3 0x020 Kill Message-Broadcast All Master
4 0x030 Stop Master Android
5 0x040 Stop Motor Master
6 0x210 Sensor Data Master/Motor-IO Sensor
7 0x230 Request Checkpoints Android Geo
8 0x240 Send Checkpoints Geo Android
9 0x250 Distance a.Final remaining Distance
b.Next checkpoint distance 		Master Geo
10 0x260 Heading and Bearing a.Heading
b.Bearing 		Master Geo
11 0x270 Run Command Master Android
Medium 11 0x270 Run Command Master Android

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Include sub-sections that list out a problem and solution, such as:

My Issue #1

Discuss the issue and resolution.

Conclusion

Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?

Project Video

Upload a video of your project and post the link here.

Project Source Code

References

Acknowledgement

Any acknowledgement that you may wish to provide can be included here.

References Used

Appendix

You can list the references you used.

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