S14: Autonomous Control System

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.

Project Title

Autonomous Control System

Abstract

A control system that, when loaded to a vehicle, can autonomously navigate a given track design. Given a source and destination location, the vehicle (pod) would be able to navigate the track and, via wireless communication, send or receive messages from other pods in the system. Such a control system may be used in a transportation network that runs on a guideway where a fixed track design is known.

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

• Elizabeth Poche
  • Driver & Line Follower Development
• Eriberto Velazquez
  • FreeRTOS Software Design
• Trent Smith
  • SNAP Communication

Schedule

Show a simple table or figures that show your scheduled as planned before you started working on the project. Then in another table column, write down the actual schedule so that readers can see the planned vs. actual goals. The point of the schedule is for readers to assess how to pace themselves if they are doing a similar project.

Week#	Date	Task	Actual
1	3/28	Schedule of project Elizabeth - pod following line Eddie - Design a state machine in FreeRTOS tasks Trent - Wireless	Pod follows line using RC circuitry. State Machine completed.
2	4/4	Elizabeth - pod able to fork and stop at a station Eddie - Form tasks for the State Machine and Line follower Trent - Wireless	Wireless complete. Tasks created, ready to integrate pathing algorithm. Pod can go straight, turn right, or stop at node
3	4/11	Elizabeth - pod counting location tick marks Eddie - Inter-task communications and shared objects/queues Trent - Wireless	Inter-task communications completed. State machine receives list of directions to navigate track.
4	4/18	Elizabeth - pod can take commands from hard coding going from one station to another Eddie - Include wireless control functionality to state machine task Trent - Wireless
5	4/25	Elizabeth - pod can take commands from wireless of going from one station to another Eddie - FreeRTOS Implementation and Testing Trent - Wireless Testing
6	5/2	Elizabeth - test pod with dijkstra and with whole system Eddie - Continue FreeRTOS Implementation and Testing Trent - Wireless Testing
7	5/9	Elizabeth - Help develop a project demo Eddie - Help design demo track Trent - Help with testing and demo
8	5/16	Elizabeth - Work on pod logic diagrams and sections of the report Eddie - Write FreeRTOS related sections of the report Trent - Write Wireless communication related sections of the report.

Parts List & Cost

Give a simple list of the cost of your project broken down by components. Do not write long stories here.

Part	Quantity	Cost Each	Total Cost
Pod Chassis	3	$15	$45
H-Bridge	3	$--	$--
IR LED/Sensor	15	$--	$--
DC Battery	3	$--	$--
SJOne Board	3	$60	$180

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.

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

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Project Source Code

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References

Acknowledgement

Any acknowledgement that you may wish to provide can be included here.

References Used

List any references used in project.

Appendix

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