F16: Titans
Contents
- 1 Project Title
- 2 Abstract
- 3 Objectives & Introduction
- 4 Track Progress in KanBan
- 5 Team Members & Responsibilities
- 6 Project Schedule
- 7 Parts List & Cost
- 8 DBC File Implementation
- 9 Sensor Controller
- 10 Motor & I/O Controller
- 11 Geographical Controller
- 12 GPS Module: Ublox NEO-M8N GPS Module
- 13 Communication Bridge Controller
- 14 Master Controller
- 15 Conclusion
- 16 References
Project Title
Autonomous Navigating RC Car
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.
Track Progress in KanBan
Team Members & Responsibilities
- Master Controller
- Haroldo Filho
- Urvashi Agrawal
- Motor Controller & I/O Module
- Sant Prakash Soy
- Saketh Sai Narayana
- GPS/Compass Module
- Yang Thao (GPS)
- Daamanmeet Paul (Compass)
- Sensors
- Kayalvizhi Rajagopal
- Communication Bridge/Android App
- Parth Pachchigar
- Purvil Kamdar
Project Schedule
Legend: Motor & I/O Controller , Master Controller , Communication Bridge Controller, Geographical Controller, Sensor Controller , Team Goal
| Week# | Start Date | End Date | Task | Status |
|---|---|---|---|---|
| 1 | 09/13/2016 | 09/20/2016 |
|
Completed |
| 2 | 09/21/2016 | 09/27/2016 |
|
Completed |
| 3 | 09/28/2016 | 10/04/2016 |
|
Completed |
| 4 | 10/05/2016 | 10/11/2016 |
|
Completed |
| 5 | 10/12/2016 | 10/17/2016 |
|
Completed |
| 6 | 10/18/2016 | 10/24/2016 |
|
Completed |
| 7 | 10/25/2016 | 10/31/2016 |
|
Completed |
| 8 | 11/1/2016 | 11/7/2016 |
|
Completed |
| 9 | 11/8/2016 | 11/14/2016 |
|
In Process |
| 10 | 11/15/2016 | 11/21/2016 |
|
Not Started |
| 11 | 11/22/2016 | 11/28/2016 |
|
Not Started |
| 12 | 11/22/2016 | 11/28/2016 |
|
Not Started |
| 13 | 11/29/2016 | Presentation date |
|
Not Started |
Parts List & Cost
| Item# | Part Desciption | Vendor | Qty | Cost |
|---|---|---|---|---|
| 1 | RC Car - Traxxas 1/10 Slash 2WD | Amazon | 1 | $189.95 |
| 2 | Traxxas 2872X 5000mAh 11.1V 3S 25C LiPo Battery | Amazon | 1 | $56.99 |
| 3 | Traxxas 7600mAh 7.4V 2-Cell 25C LiPo Battery | Amazon | 1 | $70.99 |
| 4 | Traxxas 2970 EZ-Peak Plus 4-Amp NiMH/LiPo Fast Charger | Amazon | 1 | $35.99 |
| 5 | Bluetooth 4.0 BLE Bee Module (Dual Mode) | Robotshop | 1 | $19.50 |
| 6 | 4D systems 32u LCD | 4D systems | 1 | $41.55 |
| 7 | LV Maxsonar EZ0 Ultrasonic sensors | Robotshop | 5 | $124.75 |
| 8 | Devantech SF05 Ultrasonic sensor | Preet | 1 | Free |
| 9 | Venus GPS with SMA connector | Amazon | 1 | $49.95 |
| 10 | SMA Male Plug GPS Active Antenna | Amazon | 1 | $9.45 |
| 11 | Wire wrapping board | Radio shack | 1 | $20.0 |
| 12 | CAN tranceivers | Digikey | 1 | $2.0 |
DBC File Implementation
- The following is the DBC file of the project.
VERSION "" NS_: NS_DESC_ CM_ BA_DEF_ BA_ VAL_ CAT_DEF_ CAT_ FILTER BA_DEF_DEF_ EV_DATA_ ENVVAR_DATA_ SGTYPE_ SGTYPE_VAL_ BA_DEF_SGTYPE_ BA_SGTYPE_ SIG_TYPE_REF_ VAL_TABLE_ SIG_GROUP_ SIG_VALTYPE_ SIGTYPE_VALTYPE_ BO_TX_BU_ BA_DEF_REL_ BA_REL_ BA_DEF_DEF_REL_ BU_SG_REL_ BU_EV_REL_ BU_BO_REL_ SG_MUL_VAL_ BS_:
BU_: DBG MASTER GPS MOTOR SENSOR APP
BO_ 1 APP_START_STOP: 1 APP SG_ APP_START_STOP_cmd : 0|8@1+ (1,0) [0|0] "COMMAND" MASTER
BO_ 16 SENSOR_DATA: 3 SENSOR SG_ SENSOR_left_sensor : 0|8@1+ (1,0) [0|0] "Inches" MASTER,APP SG_ SENSOR_middle_sensor : 8|8@1+ (1,0) [0|0] "Inches" MASTER,APP SG_ SENSOR_right_sensor : 16|8@1+ (1,0) [0|0] "Inches" MASTER,APP
BO_ 32 MASTER_HB: 2 MASTER SG_ MASTER_SPEED_cmd : 0|8@1+ (1,0) [0|0] "" SENSOR,MOTOR,GPS,APP SG_ MASTER_STEER_cmd : 8|8@1+ (1,0) [0|0] "" SENSOR,MOTOR,GPS,APP
BO_ 65 GPS_Data: 8 GPS SG_ GPS_READOUT_valid_bit : 0|1@1+ (1,0) [0|1] "" MASTER,MOTOR,APP,MOTOR SG_ GPS_READOUT_read_counter : 1|11@1+ (1,0) [0|2000] "" MASTER,MOTOR,APP SG_ GPS_READOUT_latitude : 12|26@1+ (0.000001,0) [0|0] "" MASTER,MOTOR,APP SG_ GPS_READOUT_longitude : 38|26@1- (0.000001,0) [0|0] "" MASTER,MOTOR,APP
BO_ 66 COMPASS_Data: 2 GPS SG_ COMPASS_Heading : 0|9@1+ (1,0) [0|0] "Degree" MASTER,APP,MOTOR
BO_ 48 MOTOR_STATUS: 3 MOTOR SG_ MOTOR_STATUS_speed_mph : 0|16@1+ (0.001,0) [0|0] "mph" MASTER,APP,MOTOR
CM_ BU_ MASTER "The master controller driving the car"; CM_ BU_ MOTOR "The motor controller of the car"; CM_ BU_ SENSOR "The sensor controller of the car"; CM_ BU_ APP "The communication bridge controller of car"; CM_ BU_ GPS "GPS and compass controller of the car"; CM_ BO_ 100 "Sync message used to synchronize the controllers"; BA_DEF_ "BusType" STRING ; BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0; BA_DEF_ SG_ "FieldType" STRING ; BA_DEF_DEF_ "BusType" "CAN"; BA_DEF_DEF_ "FieldType" ""; BA_DEF_DEF_ "GenMsgCycleTime" 0; BA_ "GenMsgCycleTime" BO_ 32 100; BA_ "GenMsgCycleTime" BO_ 16 100; BA_ "GenMsgCycleTime" BO_ 48 100; BA_ "GenMsgCycleTime" BO_ 65 100; BA_ "GenMsgCycleTime" BO_ 66 100;
Sensor Controller
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
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
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
GPS Module: Ublox NEO-M8N GPS Module
This GPS module uses UART serial communication interface. The refresh rate ranges from 1Hz up to 18Hz with a default baud rate of 9600bps. To achieve the desired refresh rate of 10Hz for our design, the baud rate had to be increased to 115200bps to accommodate for the demanded bandwidth from 10Hz refresh rate.
Specifications & Documentation: www.u-blox.com
GPS Connector Definition:
- GND,
- TX,data output
- RX,data intput
- VCC,2.8V-6V
Why close u-blox GPS module?
There are several reasons to select this GPS module oppose to other types such as Sparkfun's popular Venus GPS. First, is the price. The u-blox GPS module can be purchased off amazon for about $35 with integrated antenna compared to the Venus for $50 with an additional ~$10-15 for the required external antenna. This brings up the next point and that has to do with the external antenna. Since the antenna's coaxial cable can range between 10 to 15 feet, it becomes a hassle trying to tuck it away on once GPS module is mounted on the RC car. Second point is the accuracy. The u-blox's data sheet claims have an accuracy of about 2 meters compared to 2.5 meters on the Venus. Although these different GPS modules uses their own software to configure its settings, they all are identically configurable. This means it is a no-brainer to go for the u-blox GPS module.
Razor IMU - 9 Degrees of Freedom
The 9DOF Razor IMU incorporates three sensors - an ITG-3200 (MEMS triple-axis gyro), ADXL345 (triple-axis accelerometer), and HMC5883L (triple-axis magnetometer) - to output nine degrees of inertial measurement. The outputs of all sensors are processed by an on-board ATmega328 and output over a serial interface.
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
GPS Module
Communication Bridge Controller
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
Here is the hardware block diagram of Communication Bridge Controller.
Here is the hardware block diagram of Communication Bridge Controller. Here is the hardware block diagram of Communication Bridge Controller. Here is the hardware block diagram of Communication Bridge Controller.
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.
Master Controller
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.
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
List any references used in project.
Appendix
You can list the references you used.
