F17: Alpha

Project Title

Alpha - Self-navigating RC car using CAN communication based on FreeRTOS.

Git Link - ALPHA
Git Users:

• Anirudh1313
• chhavi17
• DoyalPatel
• jigar29
• kthnptl
• rajvisharia
• ShubhamKulkarni93
• SnehaSharma
• SushmaSJSU
• SuchetaCiyer

Abstract

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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

• Master Controller
  • Jigar Agarwal
  • Sucheta Iyer

• Motor Controller
  • Raj Visharia
  • Shubham Kulkarni

• Geographical Controller
  • Krishna Sai Anirudh Katamreddy
  • Chhavi Mehta

• Sensor Controller
  • Sneha Sharma
  • Sushma Macha

• Communication Bridge Controller + LCD
  • Kathan Patel

• Android Application
  • Doyal Patel
  • Sneha Sharma

• Testing
  • Doyal Patel
  • Jigar Agarwal
  • Sucheta Iyer

Schedule

Week#	Start Date	End Date	Task	Status
1	09/15/2017	09/16/2017	Read previous projects, gather information and discuss among the group members. Distribute modules to each team member.	Completed
2	09/17/2017	10/03/2017	Set up individual Git accounts and perform individual git commits on a GIT file. Create a project report template on Wiki. Finalize the scope of each individual modules. Study the datasheet and prepare the high-level design. Order an RC Car (appropriate height and suspension), rechargeable batteries, sensors, GPS and compass module.	Completed
3	10/04/2017	10/10/2017	Sensor: Interface individual sensor and observe the sensor readings under different conditions. Determine pins and architecture of board for all four sensors. Motor: Test DC and servo motors using RC Transmitter and Receiver. Master: CAN bus test interface with the sensor. Communication Bridge Controller: Refer previous projects and get an overview of ‘Communication Bridge Controller’. Deciding the Bluetooth module and place orders based on the requirements. Geo: Testing GPS and compass modules by checking connections from the datasheet. Android: Android development environment setup and basic Android application development.	Completed
4	10/11/2017	10/17/2017	Sensor: Generate a DBC structure and acceptance filter for the sensor, and send the distance of an obstacle if any over the CAN bus. Interface multiple sensors and experiment with the angles of the sensors to have minimum interference. Motor: Get the motors running using SJOne board based on the observation of the PWM waveforms for DC and servo motors on the Oscilloscope. Master: Finalizing the PCB design and general hardware model layout. Brainstorming on CAN message details like ID, priority, etc. Communication Bridge Controller: Understanding the RFCOMM Protocol for Bluetooth communication and Bluetooth hardware. Configure Bluetooth module using Bluetooth terminal. Android: Work towards enabling Bluetooth in the Android environment and create a basic application for controlling a Bluetooth-enabled phone.	Completed
5	10/18/2017	10/24/2017	Complete all the Hardware setup for the project and prepare sensor stands of suitable height (positioned at suitable angle on the car). Sensor: Develop an algorithm to trigger all the sensors sequentially i.e., MIDDLE, LEFT, RIGHT, and BACK. Interface sensors with LEDs to indicate the direction to be taken. Motor: Get the motors to move Left, Right, Forward and Reverse through CAN communication from Master module (pressing the switches on Master module). Master: Establish CAN communication between all the modules. Communication Bridge Controller: Interfacing Bluetooth module with SJOne board and test the working of the module. Geo: Interface GPS module to SJOne board using UART and collect the data from GPS and calcualte bearing angle. Android: Establish basic communication between SJOne and mobile application.	Completed
6	10/25/2017	10/31/2017	Sensor: Calculate minimum and maximum range of obstacle detection and send the values to Master module. Interface the sensors to RC Car and take real-time readings on a moving car. Motor: Design a robust algorithm to avoid obstacles based on the communication with Master and Sensor modules. Master: Interfacing with the Motor Module and Sensor Module. Communication Bridge Controller & Android: Bi-directional communication between SJOne board and Android application. Geo: Take checkpoints at varios locations on the campus.	Completed
7	11/01/2017	11/07/2017	3D print the sensor stands and place them on the board at proper angle and orientation. Sensor: Test the obstacle detection algorithm with various obstacles like hard flat surfaces, curved surface etc. Stress test the sensors under different temperatures. Motor: Get wheel feedback using RPM sensor values for vehicular movement on the slope. Communication Bridge Controller: Interfacing Bluetooth module with the Master module over the CAN Bus. Geo: Integrate GPS module with the compass and calibrating them with SJOne board as per the values obtained. Send Latitude and Longitude of the current position of the car on CAN Bus. Android: Get important data required for the Android application over CAN Bus with the help of the Bluetooth module.	Almost Done
8	11/08/2017	11/14/2017	Motor: Modify the code to move slight left/right, half left/right, full left/right, straight or stop as per the GPS data sent by the Master module. Master: Develop an algorithm to calculate the servo motor angle as er the data from Geo controller in order to move the car closer to the destination. Geo: Send the heading and bearing angle difference based on the current position and next position to the Master module. Communication Bridge Controller: Interfacing Bluetooth module with GPS module over the CAN bus. Android: Add Google map to the application and get current location of the car. Implement an algorithm to find the shortest path by using different position marker on the Google map.	To Do
9	11/15/2017	11/21/2017	Car: Get Destination and Routing Path from the Android app. Develop an algorithm to move the car in the given routing path as well as avoiding the obstacles on its way. Android: Communication between Android application and Master node to pass GPS coordinates and routing details.	To Do
10	11/22/2017	11/29/2017	Add additional functionalities and indicators on the car. Integrating RC Car controllers as a single unit. Start with the testing, debugging and optimization process. Make the PCB design for the entire unit. Give extra Vcc and ground pins at the ends for added functionalities like headlights and indicators.	To Do
11	11/30/2017	12/14/2017	Completion of the final Wiki page and the report. Further testing and optimization of the project on campus routes.	To Do
			**************Final Demonstration.***************	To Do

Parts List & Cost

Item#	Part Desciption	Vendor	Datasheet	Qty	Cost
1	RC Car			1
2	CAN Transceivers MCP2551-I/P	Microchip [1]	MCP2551-I/P Datasheet	8	Free Samples
3	Sonar Sensor	Amazon [2]	Maxbotix EZ1 MB 1010 Datasheet	4	$24.95
4	Headlights
5	NiMH Battery
6	Charger for NiMH/NiCd Battery
7	Character LCD Display

Sensor Module

The sensor module refers to the sensors and the embedded board that controls the sensors. In this project we have used four Maxbotix EZ0 ultrasonic sensors. Each of these is mounted in four positions. Three sensors face the front of the car and are positioned in the centre, the left edge and right edge of the car. One sensor is mounted on the back of the car.

The main goal of the sensor module is to detect the distance to an obstacle, from the car and provide this information to the driver module so that it can successfully avoid the obstacle.

Hardware Design

The sensors used are LV-MaxSonar-EZ1 Ultrasonic Range Finder MB1010.

The valid sensors output is a value between 6 and 254. This value is in inches and represents the distance to the obstacle, from the sensor. It is to be noted that if the obstacle is closer than 6 inches from the sensor it will not be detected.

The sensor provides output in three forms; As a pulse on the PW pin, where pulse width represents the distance to obstacle; As an analog voltage on the AN pin; As a digital output on the TX pin, in RS-232 format. We have used the PW pin in this project to receive the input from the sensor.

<insert image of sensor here. mark all the pins - vcc gnd tx rx pw>

Pin connections for each sensor was as follows. \n PW (Pin 2) - GPIO Pin configured as interrupt to receive input from sensor RX (Pin 4) - GPIO Pin configured as output to trigger the sensor VCC (Pin 6) - +5V GND (Pin 7) - 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.

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

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.

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

<Bug/issue name>

Discuss the issue and resolution.

Conclusion

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Project Video

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References

Acknowledgement

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References Used

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Appendix

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