F16: AutoNav
Contents
- 1 Project Title
- 2 Abstract
- 3 Objectives & Introduction
- 4 Team Members & Responsibilities
- 5 Schedule
- 6 Parts List & Cost
- 7 Design & Implementation
- 8 Sensor Controller
- 9 Motor & I/O Controller
- 10 Bluetooth and Bridge(Android) Connections
- 11 Geographical Controller
- 12 Master Controller
- 13 Testing & Technical Challenges
- 14 Conclusion
- 15 References
Project Title
- Autonomous RC Car
Abstract
The self-driving RC car navigates autonomously from a source point to destination avoiding obstacles. It consists of five micro-controllers namely Motor & I/O, Sensor, Geo, Communication Bridge & Android and Master performing specific tasks.
- Motor & I/O Controller - This controller takes care of driving and steering with the help of motors and displaying the status of car on the LCD.
- Sensor Controller - Obstacle detection and avoidance will be taken care by this controller.
- Geo Controller - Orientation(heading and bearing)and navigation of the car on a specified path will be determined by this controller.
- Communication Bridge & Android Controller - Co-ordinates for navigation are provided by this controller using an android application communicating with Bluetooth.
- Master Controller - This collects the data from rest of the controllers and guides the car.
These five controllers are connected to five SJ One boards. Communication between all the five controllers is established using CAN bus.
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:
- Vishwanath Balakuntla Ramesh
Motor & I/O Controller:
- Sameer Saran
- Jaswanth Bhimanapalli
Bluetooth (Communication Bridge) & Android Controller:
- Sucharitha
- Karthikeya Rao G V
Geographical Controller:
- Arpita Ramanath
- Veena Manasa Kanakamalla
Master Controller:
- Ajai Krishna Velayutham
- Goutam Madhukeshwar Hegde
Schedule
Consolidated Team Schedule
| SI No. | Start Date | End Date | Task | Status | Actual Completion Date |
|---|---|---|---|---|---|
| 1 | 09/13/2016 | 09/27/2016 |
|
Completed | 09/26/2016 |
| 2 | 09/27/2016 | 10/11/2016 |
|
Completed | 10/11/2016 |
| 3 | 10/12/2016 | 10/18/2016 |
|
Completed | 10/20/2016 |
| 4 | 10/19/2016 | 10/30/2016 |
|
Completed | 11/01/2016 |
| 5 | 10/31/2016 | 11/08/2016 |
|
Completed | 11/12/2016 |
| 6 | 11/09/2016 | 11/27/2016 |
|
Completed | 11/29/2016 |
| 7 | 11/27/2016 | 12/15/2016 |
|
In Progress |
Parts List & Cost
| Item# | Part Description | Vendor | Qty | Cost |
|---|---|---|---|---|
| 1 | RC Car | RChobby Explosion | 1 | $190 |
| 2 | RC Car Battery | Amazon | 1 | $27.29 |
| 3 | CAN Transceiver | Texas Instruments | 15 | Free |
| 4 | M-F,F-F,M-M Jumper Wires | Amazon | 120 | 7.97 |
| 5 | Printed Circuit Boards | Amazon | 1 | $9.72 |
| 6 | Ultrasonic Parallax Ping Sensor | Fry's Electronics | 3 | $98.85 |
| 7 | 9 DOF Razor IMU module | SparkFun | 1 | $74.95 |
| 8 | Bluetooth Module | Amazon | 1 | $9.99 |
| 9 | GPS Sensor | Adafruit | 1 | $44.38 |
| 10 | Black/White line detection sensor - RPM sensor | Amazon | 1 | $10.10 |
| 11 | SJOne Boards | From Preet | 5 | $400 |
| 12 | LCD | 4D systems | 1 | $111 |
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.
Sensor Controller
Team Members:
Vishwanath Balakuntla Ramesh
Sensor Interface schedule
Hardware Design
We used 3 Parallax Ping ultrasonic distance sensors for obstacle detection and avoidance. Non-contact distance can be measured from about 2 cm (0.8 inches) to 3 meters (3.3 yards).
The PING))) sensor works by transmitting an ultrasonic burst and providing an output pulse that corresponds to the time required for the burst echo to return to the sensor. By measuring the echo pulse width, the distance to target can easily be calculated.
Three sensors were placed in front (front_left, front_center, front_right). The image below shows the wired connections between sensors and SJOne board.
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.
| Task Name | Purpose | ||||
|---|---|---|---|---|---|
| Period Init | Can bus initialization | Enable LPC timer | Initialize LPC timer | Initialize rising edge GPIO interrupt | Initialize falling edge GPIO interrupt |
| Periodic 1Hz Callback | Check can bus off | ||||
| Periodic 10Hz Callback | Get and Send Sensor Data |
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.
Motor & I/O Controller
Team Members:
Sameer Saran Jaswanth Bhimanapalli
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.
Bluetooth and Bridge(Android) Connections
Team Members:
Sucharitha Sirigreddy Karthikeya Rao GV
This section includes high level implementation details regarding the Android app connectivity with the Bluetooth module of the RC car. It gives a overview of building the android app, communication between the Bluetooth and Android app on a mobile device, routing mechanisms during the navigation.
Hardware Design
Discuss your hardware design here. Show detailed schematics, and the interface here.
Bluetooth Controller Pin Connections
| Node A Source | Node A Pin | Node B Source | Node B Pin | Description |
|---|---|---|---|---|
| Power Supply | 3.3V | SJOne Board | 3V3 | SJOne Power |
| Power Supply | GND | SJOne Board | GND | SJOne Ground |
| CAN Transceiver | CAN Tx | SJOne Board | P0.1 (Tx) | SJOne - CAN Tx |
| CAN Transceiver | CAN Rx | SJOne Board | P0.0 (Rx) | SJOne - CAN Rx |
| Bluetooth Module | TXD | SJOne Board | RXD3 | SJOne RX3- Bluetooth module TXD |
| Bluetooth Module | RXD | SJOne Board | TXD3 | SJOne TX3- Bluetooth module RXD |
| Bluetooth Module | Bluetooth module VCC(3.3V) | Power Supply | 3.3V | Bluetooth module - Power supply 3.3V |
| Bluetooth Module | Bluetooth module GND | Power Supply | GND | Bluetooth module - Power supply GND |
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.
Below is the representation of the bridge communication.
Flow Chart:
Flow Chart of the Bluetooth and Android design is as follows.
Bluetooth Android Interface Commands
Android -Bluetooth Controller Communication Table
| Sl.No | Message ID | Destination | Message Name | Data Sent over CAN |
|---|
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.
Implementation Description:
Once the Car is ready, through the Android application the Bluetooth would be paired with HC-06 module on click of BTon button, which turns on the Bluetooth on the android phone and connects to Car’s HC-06 Bluetooth device. Post which, we would send a start signal from the app, which would sync and start the car. This signal is hardcoded as ‘1’, and is encoded before sending from the android. This signal when received from the Bluetooth module, would decode and read the message and later encode and pass it on over the CAN to the Master.
After this syncing, the Master would initiate other modules; post which GPS module would send the location signal over the CAN. This signal is again decoded and sent over to the Android as a line having latitude and longitude and prefixed and post-fixed with “#” and “!” , for easier identification in the Android. Location button would enable the current location of the device, which would be marked on the map, this would be enabled on click of start itself. This would also enable Bluetooth module to detect the messages over the CAN to be displayed on the app, like RPM values and GPS data. These are again encoded and sent over to Android, which would display them in respective text boxes.
Route Button on the app would be initiated once we set these and the source and destination by 2 clicks on the maps in the app and start getting the GPS location from HC-06. Route Button on click would detect the GPS location from the car and send out next way points till the destination. The Kill switch is implemented as Stop Button, which sends of “0” signal, which is received by the Bluetooth and sent over the CAN Bus to master, to stop the Motor.
Geographical Controller
Team Members:
Veena Manasa Kanakamalla Arpita Ramanath
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.
Master Controller
Team Members:
Ajai Krishna Velayutham Goutam Madhukeshwar Hegde
Master Controller Schedule
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.
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.
GitLab 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.
