F16: Thunderbolt

Project Title

Thunderbolt - a self driving RC car

Abstract

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Objectives & Introduction

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Team Schedule

• Master Controller
• Motor Controller
• Sensor Controller
• Geographical Controller
• Communication Bridge
• Common to all modules

Sr No	Start Date	End Date	Task	Status	Problems/Delays if any
1	09/14/2016	09/20/2016	Read previous reports to understand the working of the entire project Individual module distribution	Completed
2	09/21/2016	09/27/2016	Set up Git Create project report template on Wiki Understanding the motor and PWM concept	Completed
3	09/28/2016	10/04/2016	Study previous reports to decide on components to be ordered and to get an idea about the flow Order the components Testing Servo and DC motor using RC Transmitter and Receiver Development of basic android app for one directional Bluetooth communication	Completed
4	10/05/2016	10/11/2016	Follow-up on the ordered parts and Order the remaining components Development of basic android app for plotting Google Map route between two points Testing of Bluetooth Module with SJ-One Board using available Bluetooth app on Android app store	Completed
5	10/12/2016	10/18/2016	Follow-up on the ordered parts Create branches in Git Discuss and decide on the flow of the Master controller and assign priorities to each module Testing and interfacing of servo and DC motor with SJOne Board Sensor Data Sheet Review with team	Completed
6	10/19/2016	10/25/2016	Follow-up on the ordered parts Design the CAN message ID and node address for all controllers based on the priority level Design the DBC file consisting of the signals from all the modules Understanding the RPM sensor interfacing Test the Individual sensors to get accurate measurements according to data sheet Determine pins and architecture of board for sensor controller Begin work on the flow and algorithm of Master controller Interface the compass module to SJOne board using I2C communication Bi-directional communication between SJ-ONE Board and Android App	In Progress
7	10/26/2016	11/01/2016	Design the algorithm for navigation and obstacle avoidance in Master controller Integrate the Bluetooth module with the Master controller over CAN bus Design a power circuit on RC car with motors interfaced to SJOne board Develop entire board algorithm for all sensors Develop the algorithms for distance and turn angle calculation Interfacing of GEO controller with Master Interface Android and Bluetooth module with CAN	In Progress
8	11/02/2016	11/08/2016	Design the algorithm for navigation and obstacle avoidance in Master controller Establishing reliable CAN communication for motors with master controller Interfacing of sensors with motors and testing obstacle avoidance Mount all ultrasonic sensors on car and test it Start implementation of CAN bus by testing sending and receiving of messages Calibrate the compass module and testing
9	11/09/2016	11/15/2016	Integrating it with the master controller, testing and debugging Complete implementation of the sensor controller with the Master controller over CAN bus Fine-tune algorithms for sensor Interfacing with GPS module using CAN bus for receiving current location Interface GPS module to SJOne board using UART communication Calibrating the GPS and testing
10	11/16/2016	11/22/2016	Designing of Kill switch LCD module interfacing and adding extra features. Test the implementation for multiple sensors and debugging the issue Decide upon additional I/O such as lights Integrating of GPS and compass module Interfacing of GEO controller with Android Integrating com_bridge with entire system
11	11/23/2016	11/29/2016	Optimize the code and testing for stability and report Interfacing of GEO controller with LCD Unit Testing of GEO controller and bug fixes and re-calibrate if needed. Testing and bug fixes
12	11/30/2016	12/06/2016	Testing and debugging Android App GUI enhancements and bug fixes
13	12/07/2016	12/13/2016	Final testing

Team members and Responsibilities

• Master Controller
  • Abhishek Singh
  • Saurabh Ravindra Deshmukh
  • Neha Biradar
• Motor Controller
  • Krishank Mehta
  • Neha Biradar
  • Saurabh Ravindra Deshmukh
• GPS/Compass Module
  • Samiksha Ambekar
  • Virginia Menezes
  • Neha Biradar
• Sensors
  • Arthur Nguyen
  • Rajeev Sawant
  • Samiksha Ambekar
• Bluetooth
  • Abhishek Singh
  • Nikhil Namjoshi
• Android Application
  • Nikhil Namjoshi
  • Saurabh Ravindra Deshmukh

Parts List & Cost

Item#	Part Desciption	Vendor	Qty	Cost
1	RC Car			given by Preet
2	Bluetooth hc 05	Amazon	1	$3.21
3	Sonar Sensor	Maxbotix EZ1 MB 1010
4	SparkFun Venus GPS with SMA Connector	https://www.sparkfun.com/products/11058	1	$63.05
5	Compass (CMPS11)	https://acroname.com/products/r375-cmps11?sku=R375-CMPS11	1	$45.95

Master Controller

Schedule

Sr No	Start Date	End Date	Task	Status	Actual Completed Date
1	10/11/2016	10/18/2016	Decide/Develop the CAN message ID and node address for all controllers	Completed
2	10/18/2016	10/25/2016	Design the algorithm for navigation and obstacle avoidance
3	10/25/2016	11/01/2016	Integrate the Bluetooth module with the Master controller over CAN bus Communicate to the android app on phone
4	11/01/2016	11/08/2016	Interface the Motor module with the Master controller over CAN bus
5	11/08/2016	11/15/2016	Interface the sensor controllers with the Master controller over CAN bus
6	11/15/2016	11/22/2016	Designing of the kill switch Interfacing the Master controller with GPS module
7	11/23/2016	11/29/2016	Testing the Master module with all controllers interfaced
8	11/30/2016	12/06/2016	Take care of modifications and shortcomings if any
9	12/07/2016	12/13/2016	Final Testing of self driving car

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.

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

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

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.

Sensor Controller

Group Members

• Arthur Nguyen
• Rajeev Sawant

Schedule

Sr No	Start Date	End Date	Task	Status	Actual Completion Date
1	10/04/2016	10/10/2016	Choose appropiate components Read through wiki to find out components used in earlier projects. Ordered additional ultrasonic sensors.	Complete
2	10/11/2016	10/17/2016	Sensor Data Sheet Review with team. Follow up on ordered parts	Complete
3	10/18/2016	10/24/2016	Test the Individual sensors to get accurate measurements according to data sheet Determine pins and architecture of board	Complete
4	10/25/2016	10/31/2016	Develop entire board algorithm for all sensors
5	11/01/2016	11/07/2016	Mount all ultrasonic sensors on car and test it Start implementation of CAN bus by testing sending and receiving of messages
6	11/08/2016	11/14/2016	Complete implementation of the sensor controller with the Master controller over CAN bus Fine-tune algorithms for sensor.
7	11/15/2016	11/21/2016	Test the implementation for multiple sensors and debugging the issue. Decide upon additional I/O such as lights
8	11/22/2016	11/29/2016	Optimize the code and testing for stability and report.

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.

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

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

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.

Motor & I/O Controller

Group Members

• Krishank Mehta
• Saurabh Deshmukh

Schedule

Sr No	Start Date	End Date	Task	Status	Actual Completed Date
1	9/19/2016	9/24/2016	Understanding the motor and PWM concept.	Completed	9/25/2016
2	10/4/2016	10/5/2016	Testing Servo and DC motor using RC Transmitter and Receiver.	Completed	10/5/2016
3	10/7/2016	10/10/2016	Testing and interfacing of servo and DC motor with SJOne Board	In Progress
4	10/11/2016	10/18/2016	Design of CAN message ID for motor controller.
5	10/20/2016	10/24/2016	LCD module programming and understanding the RPM sensor interfacing.
6	10/26/2016	10/28/2016	Design a power circuit on RC car with motors interfaced to SJOne board. Integrating speed sensor.
7	11/01/2016	11/08/2016	Establishing reliable CAN communication for motors with master controller.
8	11/15/2016	11/18/2016	Interfacing of sensors with motors and testing obstacle avoidance .
9	11/18/2016	11/22/2016	Integrating it with the master controller, testing and debugging

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.

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

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

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.

Geographical Controller

Group Members

• Samiksha Ambekar
• Virginia Menezes

Schedule

Sr No	Start Date	End Date	Task	Status	Problems/Delay if any
1	09/14/2016	09/20/2016	Study previous reports to research which components to order	Completed
2	09/21/2016	09/27/2016	Git and wiki report setup	Completed
3	09/28/2016	10/04/2016	Order GPS module, Compass and antenna	Completed
4	10/05/2016	10/11/2016	Follow-up on ordered parts	Completed
5	10/12/2016	10/18/2016	Developing the DBC File format for signals between GEO controller and Master, Android app and IO	Completed
6	10/19/2016	10/25/2016	Interface the compass module to SJOne board using I2C communication	Completed
7	10/26/2016	11/01/2016	Develop the algorithms for distance and turn angle calculation Interfacing of GEO controller with Master	In Progress
8	11/02/2016	11/08/2016	Calibrate the compass module and testing	In Progress
9	11/09/2016	11/15/2016	Interface GPS module to SJOne board using UART communication Calibrating the GPS and testing
10	11/16/2016	11/22/2016	Integrating of GPS and compass module Interfacing of GEO controller with Android
11	11/23/2016	11/29/2016	Interfacing of GEO controller with LCD Unit Testing of GEO controller and bug fixes and re-calibrate if needed.
12	11/30/2016	12/06/2016	Testing of GEO controller with other modules and re-calibration, if required |
13	12/07/2016	12/13/2016	Final Testing

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.

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.

GPS Module: Readytosky Ublox NEO-M8N This GPS module uses UART serial communication interface. The refresh rate ranges from 1Hz up to 10Hz with a default baud rate of 9600bps. This module is an updated version to the Ublox NEO-M7N which brings improved accuracy of up to 0.9 meters using its build in antenna. Specifications: Power Supply:DC Voltage 2.8V~6.0V Power Consumption: 50mA@5V Support for GPS,GLONASS,Galileo,BeiDou,QZSS and SBAS 72 Searching Channel Receiving Sensitivity:Trace -167dBm, Capture-148dBm Positioning Time:Cold Start:avg26s, Warm Start:avg25s, Hot Start:avg3s positioning accuracy:2m At Open Wind Output Frequency:1Hz-10Hz,Default 1Hz Speed accuracy:0.1 m/s (Without Aid) Acceleration accuracy:0.1 m/s (Without Aid) Dynamic Characteristics:Max Height:18000m, Max Speed:515m/s, Max Acceleration:4G UART Interface:UART Port:TXDA and RXDA Support Rate:4800bps to 115200bps,Default 9600dps Working Temperature:-40℃-+85℃ Storage Temperature:-40℃-+85℃ Diameter:45mm Height:6mm Weight:10g 6pins 1.25mm port GPS Connector Definition: GND, TX,data output RX,data intput VCC,2.8V-6V

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

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.

Communication Bridge Controller

Group Members

• Nikhil Namjoshi
• Saurabh Deshmukh

Schedule

Sr No	Start Date	End Date	Task	Status	Actual Completed Date
1	9/27/2016	10/4/2016	Decide the Bluetooth module and purchase it. Search online and read previous projects wikipedia pages.	Complete	10/4/2016
2	10/6/2016	10/8/2016	Testing of Bluetooth Module with SJ-One Board using available bluetooth app on Android app store	Complete	10/8/2016
3	9/30/2016	10/2/2016	Development of basic android app for one directional bluetooth communication.	Complete	10/2/2016
4	10/2/2016	10/6/2016	Development of basic android app for plotting Google Map route between two points.	Complete	10/6/2016
5	10/10/2016	10/25/2016	Bi-directional communication between SJ-ONE Board and Android App.	In Progress
6	10/25/2016	11/2/2016	Interface android module with CAN	Completed	10/31/2016
7	11/3/2016	11/11/2016	Interfacing with GPS module using CAN bus for receiving current location.
8	11/12/2016	11/23/2016	Integration with Master through CAN bus.
9	11/26/2016	12/5/2016	Android App GUI enhancements and bug fixes.

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.

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

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

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.

Conclusion

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Project Video

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Project Source Code

• Gitlab Code Link

References

Acknowledgement

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References Used

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Appendix

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