S19: Tech Savy

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LOGO


Tech Savy RC Car

Tech_Savy Side Open view
File:CMPE243 Tech Savy Car.jpg
Tech_Savy front view
Tech_Savy Top Open view

Abstract

In this project our main aim to build a Self-Navigating Car named Tech Savy, that navigates from a source location to a selected destination by avoiding obstacles in its path using sensors and motors.

Main Building Blocks of Tech Savy

Introduction & Objectives

The key features support by the system are

1. A Google-map based Android application is developed which finds out the shortest distance path between current location and destination and connects to the self-driving RC car via Bluetooth to send the GPS Coordinates.

2. The car will be integrated with the GPS, Compass, Bluetooth, multiple sensors such as Ultrasonic sensors and RPM sensors to fulfill the purpose of navigation, obstacle detection, and avoidance

3. LIDAR used for obstacle recognition and avoidance.

4. Motor drives the car by Route Calculation and Maneuvering to the selected destination and Self- Adjusting the speed of the car on Ramp.

5. LEDs and LED Display are used for debugging and to get all relevant information about the status of the car, in real time and LCD Display is used to give more detailed information related to the car.

The system is built on FreeRTOS running on LPC1758 SJOne controller and Android application. The main building blocks of Tech Savy are the five controllers communicating through High Speed CAN network designed to handle dedicated tasks. The controllers integrate various sensors that are used for navigation of the car.

CAR Objectives 

     1. Master Controller - Handles the Route Manuevering,Path Planning and Obstacle Avoidance 
     2. Sensor Controller - Detects the surrounding objects
     3. Geo Controller - Provides current location in the form of coordinates and navigate car using CMPS11
     4. Motor Controller - controls the movement of the Car.
     5. Bridge controller - Interfaces the system using Bluetooth to an Android application.

Team Objectives 

     1. Learn each and every module as much as possible, in order to develop an industrial product.
     2. Achieve 100% code coverage, during unit testing. 
     3. Document and track all the bugs encountered during development, unit testing, and field testing.
System Architecture
File:CmpE243 TechSavy Application.png
Android Application

Team Members & Technical Responsibilities

File:Team Pic.jpeg
TEAM TECH SAVY


Administrative Responsibilities

Administrative Roles
  • Team Lead
Aakash Chitroda
  • Finance Manager
 Halak Vyas
  • Git Repository Manager
Vatsal Makani
  • Wiki Report Manager
Vidushi Jain
  • Bill of Materials Manager
Jay Parsana

Team Deliverables Schedule

WEEK

START DATE

END DATE

TASK DETAILS

STATUS

1 26 Feb 2019 4 March 2019
  • Create and establish GitLab repository
  • Establish slack channel and invite Preet
  • Look through previous years projects and study it
  • Distribute major roles among team members
 Completed
Completed
Completed
Completed
2 05 March 2019 12 March 2019
  • Create a Bill of Materials.
  • Select and order an RC car.
  • Make Repo on Gitlab for all modules - Follow Naming Convention.
 Completed
Completed
Completed
3 13 March 2019 19 March 2019
  • Select Part Number for Sensors (Halak, Akash)
  • Designing and deciding PCB tool(Prashant, Vatsal)
  • Finalizing GPS module by doing some research (Vidushi)
  • Finalize and order LCD (Akash, Vidushi)
  • Finalize Motor and Order it (Vatsal)
  • Environmental setup of Android (Saumil, Akshata)
 Completed
Completed
Completed
Completed
Completed
Completed
4 20 March 2019 26 March 2019
  • Understand DBC and implement the DBC file compatible with all the controllers.
  • Test motor driving in different situations, begin to listen to CAN for controls.
  • Establish communication across all the CAN controllers over CAN bus based on the DBC file.
  • Verify the power-up interactions and configurations between Master and the other controllers.
  • 03/26/2019 DBC File
  • 03/26/2019 DEMO: CAN communication between controllers.
 Completed
Completed
Completed
Completed
Completed
Completed
5 27 March 2019 09 April 2019
  • Check and Resolve power issue for RC Car.
  • Finalize high-level system block diagram and control scheme.
  • Circuit Simulation in Proteus Tool.
  • PCB Layout Design in Diptrace Tool.
  • Finalize Components placement on PCB.
  • Establish a connection over Bluetooth and Android app.
  • Establish a communication between Bluetooth devices.
  • Interfacing of ultrasonic sensors to the SJOne board and check for basic functionality.
  • Interface and get the reading of Lidar sensor with SJOne over UART.
  • Configure GPS device baud rate and interface it with SJOne board using UART.
  • Chalk out the Message IDs based on the priority of the messages and the data to be sent across nodes.
  • Interface of Servo & DC motor to the SJOne board and check for basic functionality.
  • Interface Compass module with SJOne board using I2C serial bus.
  • Interface bluetooth HC-05 module with SJOne board using serial Communication.
  • Configure bluetooth HC-05 module name as Tech Savy using HC-05 Communication Mode.
  • Explore UI designing of LCD.
  • Finish motor controller API. Test motor driving in different situations, begin to listen to CAN for controls.
  • Add a TextView for displaying the Bluetooth connection status in Android App.
 In Progress
In Progress
In Progress
In Progress
In Progress
In Progress
In Progress
In Progress
In Progress
Completed
In Progress
Completed
Completed
Completed
Completed
In Progress
In Progress
6 10 April 2019 16 April 2019
  • Parse data of Lidar Sensor depending on distance and angle and send it to master using dbc.
  • Implement basic obstacle avoidance algorithm based on sensor data and test the same.
  • Continue testing motor driver via commands from CAN bus.
  • Build in speed steps to reverse motor for reverse to work correctly.
  • Mount all the sensors and test for any dead band and modify their positions for maximum coverage.
  • Integrate the fusion of LIDAR and Ultrasound sensor to get overall feedback from all the directions.
  • Develop algorithm to avoid obstacles and plan the car's further navigation path.
  • Complete final prototype of the obstacle avoidance feature.
  • Calibrate Compass Module. Develop code for GPS and Compass module communication over CAN.
  • Send and recieve current location, destination and checkpoint coordinates to and from App and Geo module via BRIDGE.
  • 16 April 2019 DEMO: Motors driven by wheel feedback and sensors, Basic obstacle avoidance.
  • Final Wiki Schedule.
 In Progress
7 17 April 2019 23 April 2019
  • Calibrate sensors readings and work on filtering algorithm with Master & Sensor
  • Begin work on LCD to show vehicle live status(speed, fuel-status, obstacles, distance to destination etc.) in a GUI.
  • Finish implementing speed control on motor (to make sure requested speed is met based on RPM read).
  • Work on Car reversing using Motor Controllers.
  • Integrate all modules with the Master to test the data flow.
  • Validation & Verification of obstacle avoidance, steering logic with rear sensor inputs and reversing.
  • Start incorporating GEO Controller information to Master module Steering logic.
  • Decide, implement and test data exchange between Geo Controller and BRIDGE.
  • Calculate and send simple bearing angle and destination status on CAN to figure out initial challenges.
  • Add a Google Map for setting the car's destination.
  • Send car location to app and check points received to Geo module.
  • Verify the stringent requirement of Start-up Sync, Periodic heart-beat messages.
  • Update Wiki Schedule with Test Reports.
 In Progress
8 24 April 2019 30 April 2019
  • Testing & Validation of the LCD UI and display run time vehicle status and looking forward for feedbacks from team if any.
  • Improve & Validate Navigation logic with multiple checkpoints, bearing angle and destination information.
  • Identify and mitigate GPS locking, Location Accuracy and Number of Satellite-In-View coming.
  • Validate Accuracy of Compass Calibration with iPhone Compass.
  • Determine and add DBC Changes and finalized.
  • Implement the steering logic with bearing angle and status provided by GEO-Module.
  • Consistently Communicate current car location to App, get check points from App and relay them to Geo module.
  • Send additional vehicle status information from can bus to the App for display.
  • Send the request to Google for getting the checkpoints(use the Google Maps Directions API).
  • Field test and check for obvious issues in obstacle avoidance, navigation, maintaining speed (up/down hill).
  • Provide feed backs to each team on identified short comings.
  • Update Wiki with new details and information.
  • DEMO: GPS driving
 In Progress
9 1 May 2019 7 May 2019
  • FIELD TESTING - CRITICAL WEEK
  • Implement turning indicators, break lights and head light.
  • Check for Corner cases for steering logic under various conditions and locations.
  • Analyse field test results for GPS and CMPS and work on it if required.
  • Test the accuracy of check-points from the Blue-tooth controller, location data from the Geo-controller sensor and Navigation Algorithm.
  • Check overall robustness of the complete system.
  • Update wiki with details.
 In Progress
10 8 May 2019 21 May 2019
  • All hands on testing and final bug fixes.
  • Check for tuning or calibration of modules if required.
  • Complete end-to-end testing for various scenarios and conditions.
  • Create the semester long project activity video and upload to YouTube.
  • Update and finalize wiki.
 In Progress
11 22 May 2019
  • DEMO: Final Project
  • SUBMISSION: Final Project Wiki
 In Progress

BILL OF MATERIALS (GENERAL PARTS)

PART NAME

PART MODEL & SOURCE

QUANTITY

COST PER UNIT (USD)

  • Micro-Controller Eval-Boards
  • LPC 1758 (Purchased from Preet Kang)
  • 5
  • 80.00
  • RC Car
  • 1
  • 205.99
  • Lithium-Ion Battery
  • 1
  • 74.95
  • Lithium-Ion Battery 2
  • 1
  • 69.95
  • RC Car Battery Charger
  • 1
  • 49.95
  • Bluetooth Breakout Board
  • 1
  • 8.49
  • RC Car Display
  • 1
  • 79.00
  • Ultrasonic Sensors
  • 2
  • 30.00
  • RP-LIDAR Sensor
  • 1
  • 99.00
  • GNSS Taoglas GPS Antenna
  • 1
  • FREE
  • CAN Transreceivers
  • 10
  • FREE
  • Compass
  • 2
  • 30.00
  • RPM Sensor
  • 1
  • 10.00
  • GPS Breakout Board
  • 1
  • 43.00


Printed Circuit Board

<Picture and information, including links to your PCB>

CAN Communication

<Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.>

Hardware Design

<Show your CAN bus hardware design>

DBC File

<Gitlab link to your DBC file> <You can optionally use an inline image>



Sensor ECU

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Unreliable sonor sensors

<Problem Summary> <Problem Resolution>


Motor ECU

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Unreliable Servo Motors

<Problem Summary> <Problem Resolution>


Geographical Controller

<Picture and link to Gitlab>

Hardware Design

The hardware interface details of GPS and Compass Module with SJOne board are given below:

GPS & CMPS11 Module Hardware Interfacing


GPS

GPS is a global navigation satellite system that provides geolocation and time information to a GPS receiver anywhere on or near the Earth where there is an unobstructed line of sight to four or more GPS satellites.

Compass

A Compass is an instrument used for navigation and orientation that shows direction relative to the geographic cardinal directions (or points). Compass is communicating over I2C with SJ One board. The register 2 and 3 of the compass provide the compass bearing angle (0- 360 range). Calibrating the compass is an important part. We are calibrating it on ‘horizontal calibration mode’, it works for us because the compass has tilt calibration.

Calibration process: First of all, you need to enter the calibration mode by sending a 3-byte sequence of 0xF0,0xF5 and then 0xF7 to the command register, these MUST be sent in 3 separate I2C frames. There MUST be a minimum of 20ms between each I2C frame.

The LED will then extinguish and the CMPS11 should now be rotated in all directions on a horizontal plane, if a new maximum for any of the sensors is detected then the LED will flash, when you cannot get any further LED flashes in any direction then exit the calibration mode with a command of 0xF8.

Note: Please make sure that the CMPS11 is not located near to ferrous objects as this will distort the magnetic field and induce errors in the reading. While calibrating rotate the compass slowly. Only the X and Y magnetometer axis is calibrated in this mode.

We are sending 3-byte sequence command of 0xF0,0xF5 and then 0xF7 on 4th switch press and 0xF8 command on 2nd switch press of the SJ One board. You can always restore factory calibration mode by sending the 3-byte sequence command of 0x20,0x2A,0x60. We are using switch 3 to restore factory calibration.

GPS & CMPS11 Module Hardware Interfacing

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Unreliable GPS lock

<Problem Summary> <Problem Resolution>


Bridge Controller Communication

<Picture and link to Gitlab>

Hardware Design

Bluetooth Module Hardware Interfacing:

We are using an HC-05 Bluetooth module to send and receive the data from our android application to Controller. The Bridge controller is connected to the Bluetooth module through the Serial interface(UART2) of SjOne board and we have configured HC-05 at 38400 baud rate 8-bit data and 1 stop bit using modules Communication Mode.

HC-05 Module Hardware Interfacing


HC-05 Bluetooth module

HC-05 Bluetooth Module is used to set up wireless communication between the Car and the Android phone. This module is based on the Cambridge Silicon Radio BC417 2.4 GHz BlueTooth Radio chip. This is a complex chip which uses an external 8 Mbit flash memory It includes the Radio and Memory chips, 26 MHz crystal, antenna, and RF matching network. The right section of the Bluetooth Board has connection pins for power and signals as well as a 5V to 3.3V Regulator, LED, and level shifting.

  • HC-05 PinOut 
* EN:  In a case brought HIGH before power is applied, forces AT Command Setup Mode 
* VCC: 5V Power 
* GND: Ground 
* TXD: Serial Transmit pin connected to RXD2 of SJOne board
* RXD: Serial Receive  pin connected to TXD2 of SJOne board 
* STATE: States if connected or not
  • LED Blinking signals
* Flashing RED Fast: Ready for Pairing with nearby Bluetooth device available
* Flashing RED Slow: Paired and Connected

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Insane Bug

<Problem Summary> <Problem Resolution>


Master Module

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Improper Unit Testing

<Problem Summary> <Problem Resolution>



Mobile Application

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Wifi Link Reliability

<Problem Summary> <Problem Resolution>


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 the 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 the exact code, but you may show pseudocode and fragments of code. Keep in mind that you are showing the DESIGN of your software, not the inner workings of it.


TechSavy High Level Software Architecture

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can is started from scratch again? Make a smooth transition to the 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

<Organized summary of the project>

<What did you learn?>

Project Video

Project Source Code


Advise for Future Students

<Bullet points and discussion>

Acknowledgement

References

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.

Grading Criteria

  • How well is Software & Hardware Design described?
  • How well can this report be used to reproduce this project?
  • Code Quality
  • Overall Report Quality:
    • Software Block Diagrams
    • Hardware Block Diagrams
      Schematic Quality
    • Quality of technical challenges and solutions adopted.

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