S21: UTAH

1 UTAH: Unit Tested to Avoid Hazards
2 Abstract
3 Objectives & Introduction
- 3.1 Team Members & Responsibilities
4 Schedule
5 Parts List & Cost
6 Printed Circuit Board
7 CAN Communication
- 7.1 Hardware Design
- 7.2 DBC File
8 Sensor ECU
9 Motor ECU
10 Geographical Controller
11 Communication Bridge Controller & LCD
12 Master Module
13 Mobile Application
14 Conclusion

UTAH: Unit Tested to Avoid Hazards

Abstract

UTAH abstract

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

Akash Vachhani Gitlab
- Leader
- Geographical Controller

Jonathan Beard Gitlab
- Android Application Developer
- Communication Bridge Controller

Ameer Ali
- Master Controller

Jonathan Tran Gitlab
- Sensors Controller

Amritpal Sidhu
- Motor Controller

Shreevats Gadhikar Gitlab'
- Motor Controller

Schedule

Legend
Description	Color
Administrative	Black
Sensor	Cyan
Bluetooth & App	Blue
GPS	Red
Motor	Magenta
Main	Orange

Week#	Start Date	End Date	Task	Status
1	02/15/2021	02/21/2021	Read previous projects to understand what is expected and have some meaningful knowledge by first meeting. Assign roles.	Completed
2	02/22/2021	02/28/2021	Acquire parts: Canbus modules, GPS module, Ultrasonic module, Bluetooth module, Car frame, and LCD display Conduct meeting: Discuss GitLab layout and expectation of each assigned role	Completed Completed
3	03/01/2021 03/01/2021 03/01/2021 03/01/2021 03/01/2021 03/01/2021 03/01/2021	03/07/2021 03/07/2021 03/07/2021 03/07/2021 03/07/2021 03/07/2021 03/07/2021	Purchased RC car and batteries. Research and finalize which ultrasonic sensor the project will use. Purchased Bluetooth connector Research math to determine distance between navigation points. Researchmultiple navigation point algorithm(Djikstra's) to determine shortest path. Created branch for motor controller driver. Created draft template API for motor controller. Using previous projects, determine what works needs to be completed for main board	Completed Completed Completed Completed Completed Completed Completed
4	03/08/2021 03/08/2021 03/08/2021	03/14/2021 03/14/2021 03/14/2021	Research connection with Bluetooth from board to application Work on implementation of multiple navigation point algorithm to determine shortest path Plan motor controller API and create basic software flow of API	incomplete Incomplete Complete
5	03/15/2021 03/15/2021 03/15/2021 03/15/2021 03/15/2021	03/21/2021 03/21/2021 03/21/2021 03/21/2021 03/21/2021	Begin laying out hardware requirements for PCB on excel document Finish research on application building with android studio Implement a simple application with a button and text Unit Test Direction Math Module Begin coding and digesting adafruit Compass data	Incomplete Complete Complete Complete Complete
6	03/22/2021 03/22/2021 03/22/2021 03/22/2021 03/22/2021 03/22/2021 03/22/2021 03/22/2021	03/28/2021 03/28/2021 03/28/2021 03/28/2021 03/28/2021 03/28/2021 03/28/2021 03/28/2021	Acquire sensor and interface sensors to SJ2 Board and receive raw data Implement basic communication between board and app Update Wiki with proper software diagrams Begin Mapping out pins used on all board Complete a block diagram and a control scheme Top Level Driver Logic diagram Periodic Callback Functions Diagram Create a basic Obstacle avoidance algorithm for Driver Probe RC car to determine expected behavior of signals and install RPM sensor Write motor controller modules and tests	Incomplete In progress In progress In Progress In Progress Complete In Progress Complete Complete Complete
7	03/29/2021 03/29/2021 03/29/2021 03/29/2021 03/29/2021	04/04/2021 04/04/2021 04/04/2021 04/04/2021 04/04/2021	Discuss and construct DBC file Create sensor API to parse raw data and send useful data Integrate google map features into app Integration testing of motor controller logic to verify it works on hardware Create a Checkpoint Navigation algorithm for Driver	Complete In progress Incomplete Complete Complete
8	04/05/2021 04/05/2021 04/05/2021	04/11/2021 04/11/2021 04/11/2021	Finish implementation of canbus between controllers and begin real world testing 3D print sensor mounts, sensor guards, and draft sensor offset timing to deter sensor cross talk Write and test RPM sensor code	In progress Incomplete Complete
9	04/12/2021 04/12/2021 04/12/2021 04/12/2021	04/18/2021 04/18/2021 04/18/2021 04/18/2021	Integrate Driver, Geo, Bridge sensor, and Motor nodes. Analysis for jitters in sensor value Complete "Self Test" for motor test(DC motor moves forward and backwards and servo moves right left) Write and test PID for drive speed control	In progress Incomplete In progress In progress
10	04/19/2021 04/19/2021 04/19/2021	05/26/2021 05/26/2021 04/26/2021	Begin to analysis real world tests from previous weeks implementation and perform fixes for issues faced Ensure Canbus nodes are communicating correctly by verifying PCON data Integration testing with obstacle avoidance	Incomplete Incomplete Incomplete
11	04/26/2021 04/26/2021	05/02/2021 05/02/2021	Perform more real world tests and isolate bugs Perform final bug fixes for all Canbus nodes	Incomplete Incomplete
12	05/09/2021 05/09/2021 05/09/2021	05/09/2021 05/09/2021 05/09/2021	Update Wiki Report to reflect all changes and include final testing video Perform final code changes and commit to master branch Complete Final Demo with Preetpal Kang	Incomplete Incomplete Incomplete

Parts List & Cost

Item#	Part Description	Vendor	Qty	Cost
1	Traxxas 1/10 Scale RC Short Truck	Traxxas [1]	1	$239.99 + Tax
2	RPM Sensor & Mount	Traxxas [2]	1	$19.00 + Tax
3	2S 7.4V 5000mAh LiPo Battery Pack	Amazon [3]	2	$40.69 + Tax
4	Bluetooth Adapter	Amazon [4]	1?	$8.99 + Tax
5	Adafruit Ultimate GPS Breakout	Adafruit[5]	1	$39.95
6	Adafruit Triple-axis Accelerometer+Magnetometer	Adafruit[6]	1	$14.95
7	Deans Connector	Amazon[7]	1	$8.99 + Tax

Printed Circuit Board

CAN Communication

Hardware Design

DBC File

DBC File Link