F17: Optimus

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Optimus

Optimus - Self Navigating R/C Car powered by SJOne(LPC1758) micro controller.

Abstract



[[|thumb|centre|700px|System Diagram]]

Objectives & Introduction

Team Members & Responsibilities

  • Android and Communication Bridge:[[|233px|right]]
    • [ Parimal]
  • Geographical Controller:
    • [ Sneha]
    • [ Sarvesh]
  • Master Controller:
    • [ Unnikrishnan]
    • [ Revathy]
    • [ Kripanand]
  • Motor Controller
    • [ Unnikrishnan]
    • [ Rajul]
  • Sensor and I/O Controller:
    • [ Sushma]
    • [ Supradeep]
    • [ Harshitha]

Schedule

Legend:

Major Feature milestone , CAN Master Controller , Sensor & IO Controller , Android Controller, Motor Controller , Geo , Testing, Ble controller, Team Goal

Week# Date Planned Task Actual Status
1 9/23/2017
  • Decide roles for each team member
  • Read FY16 project reports and understand requirements
  • Setup Gitlab project readme
  • Ordered CAN Tranceivers and get R/C car
  • Team roles are decided and module owners are assigned
  • Gitlab project is set
  • Ordered CAN tranceivers and got R/C Car
 Complete.
2 9/30/2017
  • Design software architecture for each module and design signal interfaces between modules
  • Setup Wiki Project Report template
  • Design Hardware layout of system components
  • Create component checklist and order required components for individual modules.
  • Setup Gitlab project code for each modules
  • Overall project requirements are understood
  • Wiki Project report setup is done
  • Odered components for Geo controller module
  • Initial commit of project base is done
 Complete
3 10/14/2017
  • Major Feature: Implement Free run mode
    • Implement heartbeat messages and initial system bootup sync between modules
    • Interface the RPLidar to SJOne board via UART
    • Achieve basic communication such as obtaining the device and health info.
    • Study of Android Toolkit for Bluetooth Adapter connections and APIs
    • Study of HC-05 Bluetooth Module
    • Creating APIs for Start/ STOP button requests to write to output-Stream buffers
    • Creating RFComm SPP Connection socket and the rest of UI for basic operation of Pairing, Connection
    • Checking the AT Command sequence for Bluetooth Operation and Pairing
    • Automating the AT Command sequence for Bluetooth HC-05 operation and Android App
    • Run Motors via commands from SJOne Automatically
    • Order the RPM sensor module for the Drive Controller
    • Design and Order PCB
  • Major Feature: Implemented Free run mode
    • Added hearbeat messages from all controllers to master in can_db and implemented the handling functions in master controller
    • Implemented speed steer command CAN msg transmission and handling in Master controller. Master-Drive integration phase-I
    • Interfaced RPLidar to SJOne board and achieved basic communication via UART. Started obtaining data as well.
    • Android:Android API for Bluetooth Adapter connections studied.
    • Android:Learning of AT Command sequence for Bluetooth Operation and Pairing done.
    • Android:Created Start/Stop API's for button requests to be Sent to HC-05 IC.
    • Android:Basic Pairing Operation Working.
    • Motor: ESC Traxxas XL-5 (Electronic Speed Control) interfaced to SJOne board
    • Tested and identified duty cycles for different speeds required; Callibration and testing of ESC is over exteral switch at P0.1
    • Ordered RPM sensor
Complete
4 10/21/2017
  • Major Feature: Implement Basic Obstacle Avoidance in Free-run mode
    • Add all modules CAN messages to DBC file
    • Test steer and speed CAN commands between Master and Motor
    • Implement Obstacle avoidance algorithm
    • Obtain data from the lidar and process the data i.e. decide on the format in which the data has to be sent to the master
    • Write unit test cases for the lidar.
    • Interface compass module to SJOne board and calibrate the errors
    • find the heading and bearing angle based on mocked checkpoint
    • Test and verify GPS module outdoor to receive valid data and check for errors
    • Calibrate the GPS module error
    • Design and implement the DRIVE_CONTROLLER STEER/SPEED interface with Master (TDD)
    • Install the new RPM sensor module for the Drive Controller
    • Operating motors based on the CAN messages from the Master
  • Major Feature: Implemented Free-run mode w/o obstacle avoidance
    • Added all modules basic CAN messages in can_db
    • Implemented interface files in master controller to handle CAN messages from all nodes to master
    • Implemented Master-Drive controller Integration
    • Implemented Master-Bluetooth controller integration
    • Added all modules basic CAN messages in can_db
    • GPS integrated to SJONE board
    • Added all modules basic CAN messages in can_db
    • Wrote unit test cases for the LIDAR.
    • Wrote logic for dividing the information obtained from the lidar into sectors and tracks.
    • MASTER_SPEED_STEER_CMD was defined to use 8-bits for speed control (neutral, forward, and reverse); 9-bits for steer control (straight, left, and right)
    • Designed glue code: DriveManager and hardware interface code: DriveController using TDD (test code in _MOTOR/_cgreen_test/)
    • Got the Traxxas #6520 RPM sensor; installed the same with the slipper clutch; Observed the RPM sensor trigger over an oscilloscope and found the minimum distance of magnet to RPM sensor is not achievable with the stock slipper clutch. Ordered Traxxas #6878 new slipper clutch and ball-bearings
    • Master - Drive Controller Interface implemented and tested over CAN; Check "drive" terminal command on Master controller
complete
5 10/28/2017
  • Major Feature: Implement maneuvering in Master controller
    • Implement maneuvering algorithm to drive steering angle of the servo
    • Implement maneuvering algorithm to control ESC speed
    • Test and validate the information obtained from the sensor.
    • Send the Lidar data and heartbeat over CAN.
    • LIDAR should be fully working.
    • Identify the basic speed(s) at which the car shall move; the min, max and normal forward speeds, and the min and normal reverse speeds
    • Interface the RPM sensor over ADC and validate the readings
    • Writing PID Algorithm for Motor Control
    • Calibrating PID constants according to the Motors
    • Testing the Bluetooth Range and multiple pairing option to establish security of the Master device
    • Testing the accuracy of GPS while moving
    • Made the code modular and added the wrapper function for all the important modules
    • Worked on android app which will dump the lattitude and longitude information for checkpoints
    • Test the accuracy of GPS while moving
    • Get the code review done and do the testing after that
    • Worked on the Android app that will dump the checkpoints into a file
    • Finish PCB design and place order
  • Major Feature: Implemented maneuvering in Master-Geo controller
  • Major Feature: Implemented Basic Obstacle Avoidance in Free-run mode
    • Implement maneuvering algorithm in android app is moved to next week schedule
    • Implemented maneuvering algorithm in Master to drive steering angle of the servo
    • Implement maneuvering algorithm in Master to control ESC speed
    • Unit Testing obstacle avoidance algorithm
    • Tested and validated the sensor data by plotting graphs in an EXCEL sheet.
    • Sending the obstacle information and heartbeat over CAN.
    • LIDAR fully working and sending obstacle information.
    • Identified basic speeds, slow, normal, and turbo for forward and reverse
    • Interfaced the RPM sensor over GPIO and validated; but the clutch gear with magnet was far apart from the RPM Sensor
    • Wrote the PID code keeping future integration in mind; Have pushed the code
    • Failed to use RPM sensor - new clutch gear also did not work (magnet is too far away - validated with Oscilloscope); Have to consider using IR sensor for feedback
    • Android:Tested successfully individual and multiple Device pairing.
    • Android:Android app updated with Navigation and Drawer Modules with Detecting NAV points.
    • Tested the accuracy of GPS while moving
    • Made the GPS and compass code modular and checked the functionaity after the changes
    • Worked on the Android app that will dump the checkpoints into a file
    • Completed PCB Design
 Complete
6 11/07/2017
  • Major Feature: Implement maneuvering with mocked GEO checkpoints
    • Collect mock checkpoints using the Android Data Collector application
    • Collect mock checkpoints using the GEO module and compare for any discrepancies
    • Identify I/O on-board Display information; Currenly identified are documented below:
    • Health status like GPS Lock status, etc.
    • Identify hardware to check battery-status and procure the same; update PCB as well
    • Display bluetooth pairing status
    • Test on-board I/O module for bluetooth pairing status
    • In case RPM installation/usage fail, Identify new mechanism for feedback and order components; Update PCB as well to include new hardware
    • Implement simple feature additions on steer control to handle reverse; basically steering rear-left and rear-right has to be practically implemented on motor/drive controller
    • Receive GEO Controller's Turning-angle message and compute target steer
    • Use GEO Controller's distance to next-checkpoint information to compute target speed
    • Mock checkpoint navigation testing using different possible obstacle heights and forms possible
    • Identify advertisement messages on the DBC file and add documentation in Wiki; Currently identified advertisements: a) current GEO location, b) SENSOR radar map
    • Shall define the BLE Controller to android message structure and message generation-intervals (classify on-demand advertisements and periodic advertisements)
    • Implement marker for current location display - which is an on-demand advertisement
    • Implement feature for the user to enter destination - a Google Map View shall be shown to the user to confirm route from source(current car location) to destination
    • Android app (once on the new device) shall download the entire offline map information of the SJSU campus and store it on a SQLite database
  • Major Feature: Implemented maneuvering with mocked GEO checkpoints
    • Provided Mock checkpoints and used the heading and bearing angle logic to get the turning angle
    • Collected mock checkpoints and check for the error with different places
    • Interfaced the Sparkfun Seven segment display with the SJOne Board.
    • Implemented interface method to receive GEO Controller's Turning-angle message and set target steer
    • Target speed is not changed between checkpoints.So geo feedback for distance to destination is not used in design
    • Destination Reached flag is tracked to stop the car on reaching destination
    • Checkpoint Id CAN signal is processed by Master to start the car once destination is selected
    • Android:Implemented Marker for current position Display.
    • Android:User entry for setting up destination on MAP done.
    • RPM Installation failed, but could get auxiliary hardware (motor pinion) from local shop and get it working
    • Implemented basic motor feedback using hall sensor (RPM sensor); tested working on ramps
    • Steer left and right on reverse now follows natural order; Could not finish literal reverse-left and reverse-right implementation; Moved this task forward; Had to test and implement motor feedback this week
    • Defined the BLE Controller messages to android in JSON message structure and message generation-intervals (classify on-demand advertisements and periodic advertisements)
    • On Demand Advertisement- Current Marker Location
    • Draggable Destination Marker for final destination and intermittent checkpoint transmission to GEO from Android via BLE
    • Marking the checkpoints with HUE_BLUE color to do better tracking of the navigation.
    • Added multi state BT options and Added restrictions on buttons like NAV usage dependency on BT Connection, Powerup button dependency on NAV setup before actually powering the car.
 Complete
7 11/14/2017
  • Major Feature: Implementing maneuvering with Android app supplied GEO checkpoints with on-board I/O
    • Use mock data from file to compute: a) Heading b) Bearing -> use Haversine's algorithm to compute turning angle
    • Advertise distance to the next checkpoint (again using Haversine's algorithm)
    • Save the proper checkpoints for one route (Clark's to SU) to SDCARD on GEO Controller
    • Implement system start/stop triggers from different use cases
    • Turning angle offset of -10,10 is added to take right / left turn
    • Implement the battery-status DBC Message advertisement
    • Indicate checkpoint proximity using backlight indicators
    • Create 2 CAN messages for Disgnostic and I/O data to transmit it to BLE module
    • Receive the diagnostic CAN message and decode to transmit it to Android App
    • [Android I/O:] Design Android app views for visualizing Diagnostic and I/O data
    • Test and validate success/fail cases for on-board I/O display information(as defined above)
    • Update PWM pulses to match MASTER's target speed with proper feedback from the identified feedback-mechanism
    • Identify PID constants kp, ki, kd and evaluate performance against the basic feedback implementation
    • Finalize feedback algorithm and fine-tuning
  • Major Feature: Implemented maneuvering with Android app supplied GEO checkpoints with on-board I/O
    • [Geo:] Implemented mock data from file to compute: a) Heading b) Bearing -> used Haversine's algorithm to compute turning angle
    • [Geo:] Advertised distance to the next checkpoint (again using Haversine's algorithm)
    • [Geo:] Saving the checkpoints in SDCARD on GEO Controller
    • battery-status is optional feature. Planning for later
    • Indicate checkpoint proximity using backlight indicators
    • [BLE:] Created CAN messages for Telemetry data from all modules to BLe to send to Android
    • [BLE:] Received Telemetry messages are transmitted to Android App
    • [Android I/O:] Android app views created for visualizing Telemetry data
    • Test and validate success/fail cases for on-board I/O display information
    • Update PWM pulses to match MASTER's target speed with proper feedback from the identified feedback-mechanism
    • Finalize feedback algorithm and fine-tuning
 Complete.
8 11/21/2017
  • Major Feature: Complete maneuvering implementation with Android app and Android I/O
    • [Android I/O:] Implement display of Sensor Obstacle Information on a RADAR map
    • [Android I/O:] Dynamically update car's Current location on the map's route path
    • [Android I/O:] BT Auto Connection and Pairing implemented
    • [Android I/O:] Health information from BLE Controller, namely battery, GPS lock status, and motor speed shall be updated
    • [Android I/O:] BT Auto connect implementation and re-connection on disconnection.
    • Test achievable target speeds with different possible obstacle heights and forms possible, and ground conditions
  • Major Feature: Completed maneuvering implementation with Android app
    • [Android I/O:] Sensor obstacle LIDAR information has been updated on the app
    • [Android I/O:] Dynamic update of Car's current location and intermittent checkpoints implemented.
    • [Android I/O:] Health information from BLE Controller, namely GPS lock status, and motor speed has been updated on the Dashboard of the app.
    • [Android I/O:] Completed BT Auto connect implementation and re-connection on disconnection.
 Complete.
9 11/28/2017
  • Major Feature: Full feature integration test
    • Execute the test plan created above [Planned for 11/14] (check Testing documentation in Wiki)
    • Execute the test plan created above [Planned for 11/14]; Phase 1: Test all identified cases for ground-conditions (grass, inclines, etc)
    • Execute the test plan created above [Planned for 11/14]; Phase 2: Test all identified cases for GPS routes and obstacle forms
  • Major Feature: Full feature integration test
    • Integration testing with all controllers and Android App to select routes and send checkpoints from App to Ble.
 Complete.
10 12/5/2017
  • Major Feature: Full feature integration test
    • Execute the test plan created above [Planned for 11/14]; Phase 3: Test all identified cases for speed levels and on-board I/O validation
    • Execute the test plan created above [Planned for 11/14]; Phase 4: Test all identified cases for [Android I/O] validation
  • Major Feature: Full feature integration test
    • Integration testing with Android App with Debug view/Dash board with sensor and GPS data
 Complete
11 12/12/2017
  • Major Feature: Full feature integration test
    • Execute the test plan created above [Planned for 11/14]; Phase 5: Test all identified cases for desired Turbo mode(s)
  • Update Wiki Complete Report
  • Major Feature: Full feature integration test
On Track

Parts List & Cost

The Project bill of materials is as listed in the table below.

Item# Part Description Vendor Qty Cost
1 SJ One Board (LPC 1758) From Preet 6 $480
2 [1] Prof. Kaikai Liu provided 1 $0
3 Accelerometer/Magnetometer LSM303 Adafruit 2 $40.00
4 Bluetooth Module Sparkfun 1 $34.95
5 CAN Transceivers From ebay. 15 $51
6 Battery Pack From Sheldon Hobbist 1 $49.99
7 RP Lidar 5 $400
8 LED $ Digit Display From Preet 1 $0
9 GPS Module From Adafruit 1 $43.34
10 General Components From Amazon - $
11 RPM Sensor From traxxas 1 $20
12 PCB 1 $10.66
13 Acrylic Board From Amazon 1 $12.53
14 PCAN dongle From Preet 1 $0
15 Power Bank From Amazon 1 $41.50
16 PCB Manufacturing From PCB Way 5 $70

CAN Communication

System Nodes : MASTER , MOTOR , BLE , SENSOR , GEO

SNo. Message ID Message from Source Node Receivers
Master Controller Message
1 2 System Start command to start motor Motor
2 17 Target Speed-Steer Signal to Motor Motor
3 194 Telemetry Message to Display it on Android BLE
Sensor Controller Message
4 3 Lidar Detections of obstacles in 360 degree grouped as sectors Master,BLE
5 36 Heartbeat Master
Geo Controller Message
4 195 Compass, Destination Reached flag, Checkpoint id signals Master,BLE
5 4 Turning Angle Master,BLE
5 4 Heartbeat Master
Bluetooth Bridge Controller Message
4 38 Heartbeat Master
5 213 Checkpoint Count from AndroidApp Geo
5 214 Checkpoints(Lat,Long) from Android App Geo

DBC File

https://gitlab.com/optimus_prime/optimus/blob/master/_can_dbc/243.dbc

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. === System Architecture ===

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