S23: CAN CLAN

1 Project Title
2 Abstract
- 2.1 Introduction
- 2.2 Team Members & Responsibilities
3 Schedule
4 Parts List & Cost
5 Printed Circuit Board
6 CAN Communication
- 6.1 Hardware Design
- 6.2 DBC File
7 Sensor ECU
8 Motor ECU
9 Geographical Controller
10 Communication Bridge Controller & LCD
11 Master Module
12 Mobile Application
13 Conclusion

Project Title

Abstract

<2-3 sentence abstract>

Introduction

The project was divided into N modules:

Sensor ...
Motor..
...
Android

Team Members & Responsibilities

Gitlab Project Link - [1]

Sensor
- Link to Gitlab user1
- Link to Gitlab user2

Motor
- Link to Gitlab user1
- Link to Gitlab user2

Geographical
- Link to Gitlab user1
- Link to Gitlab user2

Communication Bridge Controller & LCD
- Link to Gitlab user1
- Link to Gitlab user2

Android Application
- Link to Gitlab user1
- Link to Gitlab user2

Testing Team
- Link to Gitlab user1
- Link to Gitlab user2

Schedule

Week#	Start Date	End Date	Task	Status
1	03/06/2022	03/12/2022	Read previous projects, gather information and discuss among the group members. Discuss each team-member's preference and assign controller roles Create parts list for the RC car, discuss, and decide on each item	Completed
2	03/13/2022	03/19/2022	Design interface for Bridge and Sensor Controller, with unit tests Design interface for Motor Controller, with unit tests Design interface for Driver and LCD Controller, with unit tests Integrate Bridge/Sensor Controller to CAN bus with DBC, handling messages Integrate Motor Controller to CAN bus with DBC, handling messages Integrate Driver Controller to CAN bus with DBC, handling messages Order all parts from list and save tracking/price info	Completed
3	03/20/2022	03/26/2022	Connect Sensor, Motor, and Driver controller together on CAN bus and verify messages Connect all nodes together on the CAN bus, connect android app, verify messages across all nodes Design interface for Geological Controller, with unit tests Design basic android app connection and communication	Completed
4	03/27/2022	04/02/2022	Integrate Geological Controller to CAN bus with DBC, handling messages Integrate Android app with Bridge/Sensor controller, sending/receiving messages both ways Integrate Motor and Steering with PWM control, figure out the working ranges Integrate Bluetooth module to Bridge/Sensor controller, with UART logic Connect Android app to Bridge/Sensor controller, send test message All parts received	Completed
5	04/03/2022	04/09/2022	Connect all nodes together on the CAN bus, connect android app, verify messages across all nodes Mobile app can send coordinates to Bridge controller Start RPM sensor logic implementation and add it to Motor controller MILESTONE - All individual modules considered "Roughly Working" with hardware interfaced	Completed
6	04/10/2022	04/16/2022	Integrate GPS and Compass peripherals, writing the driver and unit tests Have Driver node process GPS position/heading/bearing messages and incorporate in the driver logic Complete RPM sensor and integrate with Motor controller for reliable PID control Bridge sends to mobile app car status / telemetry data Compile additional parts list and order them MILESTONE - Basic car driving ability with basic obstacle avoidance	Completed
7	04/17/2022	04/23/2022	Create a on-board battery power supply for all components Complete the Compass I2C integration and read values from the peripheral Have PWM signals reliably controlling the motor speed, start working "backwards driving mode" Interface LED ring on the Driver controller and display heading direction MILESTONE - Integrated, reliably "heading" towards provided destination bearing, basic obstacle avoidance First Demo (Apr. 26)	Completed
8	04/24/2022	04/30/2022	3D print sensor housings, mounting for the whole platform Design and solder the prototype board with all SJTwo boards Add data to display on the LCD screen Outdoor testing for longer range trips, and complete necessary enhancements MILESTONE - Integration part 2, perform obstacle avoidance and destination bearing Second Demo (May 3)	Completed
9	05/01/2022	05/07/2022	Verify that the electrical and mechanical work is complete MILESTONE - Integration and outdoor testing, adding necessary software changes Third Demo (May 10)	Completed
10	05/08/2022	05/15/2022	enable the Headlights to the car MILESTONE - Integration testing, deal with uneven terrain, reliable waypoints navigation and obstacle avoidance Fourth Demo (May 17)	Completed
11	05/05/2022	05/24/2022	Full System Testing, any needed Hardware and software fixes and optimizing	Completed
11	05/25/2022	05/25/2022	Final Project Demo Day	Completed

Parts List & Cost

Item#	Part Description	Vendor	Qty	Cost
1		Redcat []	1	$
2	SN65HVD23 CAN Transceivers	Waveshare[2]	5	$
3	HRLV-EZ0 Ultrasonic Sensors	[]	3	$
4		[]	1	$17.50
5		[]	1	$59.50
6		[]	1	$33.18
7		[]	1	$5.99
9		[]	1	$7.00

Printed Circuit Board

CAN Communication

Hardware Design

DBC File