S23: Meh-sla Automotive

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Project Title

<Team Name>


Abstract

<2-3 sentence abstract>

Introduction

The project was divided into N modules:

  • Sensor ...
  • Motor..
  • ...
  • Android

Team Members & Responsibilities

<Team Picture>

Gitlab Project Link - [1]

<Provide ECU names and members responsible> <One member may participate in more than one ECU>

  • 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 2/12/2023 2/18/2023
  • Read previous projects, gather information and discuss among group members
  • Completed
2 2/19/2023 2/25/2023
  • Brainstorm on the requirements for the project
  • Create a high-level block diagram of the project
  • Completed
  • Completed
3 26/2/2023 3/4/2023
  • Order the RC Car
  • Order all the sensors
  • Completed
  • Completed
4 3/5/2023 3/11/2023
  • Learning to use CAN BUSMASTER
  • Test all the parts received and order any missing or damaged parts
  • Test RC Car is functional
  • Completed
  • Completed
  • Completed
5 3/12/2023 3/18/2023
  • Establish CAN transmit and receive functionality, start formatting DBC messages
  • DBC file discussed and implemented
  • Completed
  • Completed
6 3/19/2023 3/25/2023
  • Discuss modules needed for PCB, any feature requests
  • Purchase PCBs
  • Completed
  • Completed
7 3/26/2023 4/1/2023
  • Finalize preparations and research during Spring Break
  • Start working on way point algorithm
  • Start working on obstacle avoidance algorithm
  • Completed
  • Completed
  • Completed
8 4/2/2023 4/8/2023
  • Work on the power supplies for boards
  • Interface Bluetooth for bridge controller
  • Integrate the GEO sensor and controller
  • Interface with RC car and start working on DRIVER and MOTOR nodes
  • Write a basic implementation of the sensor controller
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
9 4/9/2023 4/15/2023
  • Integrate compass
  • Install RPM Sensor
  • Start Mobile Application development
  • Finalize power supply choice and how it integrates with PCB
  • Finish PCB designs for each subsystem
  • Begin design of entire RC car assembly
  • First outdoor tests commence
  • Completed
  • Completed
  • Completed
  • Completed
  • Completed
  • In Progress
  • In Progress
10 4/16/2023 4/22/2023
  • Finish 1st vehicle prototype
  • Complete basic mobile application
  • Interface motor and steering together
  • Begin implementation of RPM sensor for PID control
  • Connect all boards to PCB and begin implementation
  • Write motor test routines to define in mobile application
  • Continue outdoor test
  • In Progress
  • In Progress
  • In Progress
  • In Progress
  • In Progress
  • Incomplete
  • Incomplete
11 4/23/2023 4/29/2023
  • Populate PCB and prepare for installation
  • Finalize GPS module + create unit_tests
  • First final draft MR for motor_board branch
  • First final draft MR for bridge_controller branch
  • First final draft MR for sensor_board branch
  • First final draft MR for geo_board branch
  • Continue outdoor tests
  • In Progress
  • In Progress
  • Incomplete
  • Incomplete
  • Incomplete
  • Incomplete
  • Incomplete
12 4/30/2023 5/6/2023
  • Finish mobile application
  • Begin working on wiki
  • Begin PID control for motor on hill
  • Integrate initial mobile application features
  • First North Garage tests commence
  • Incomplete
  • Incomplete
  • Incomplete
  • Incomplete
  • Incomplete
13 5/7/2023 5/13/2023
  • Fix bugs with altogether integration
  • Finalize PID control
  • Clean up code for branches --> update master branches
  • More North Garage tests
  • Incomplete
  • Incomplete
  • Incomplete
  • Incomplete
14 5/14/2023 5/19/2023
  • Final code cleanup
  • Add RC Car designs (pirate ship flag, argh!)
  • Finalize wiki report
  • Final North Garage tests
  • Incomplete
  • Incomplete
  • Incomplete
  • Incomplete


Parts List & Cost

Item# Part Desciption Vendor Qty Cost
1 RC Car Traxxas 1 $250.00
2 CAN Transceivers MCP2551-I/P Microchip [2] 8 Free Samples


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 DBC file 

VERSION ""

NS_ :
	BA_
	BA_DEF_
	BA_DEF_DEF_
	BA_DEF_DEF_REL_
	BA_DEF_REL_
	BA_DEF_SGTYPE_
	BA_REL_
	BA_SGTYPE_
	BO_TX_BU_
	BU_BO_REL_
	BU_EV_REL_
	BU_SG_REL_
	CAT_
	CAT_DEF_
	CM_
	ENVVAR_DATA_
	EV_DATA_
	FILTER
	NS_DESC_
	SGTYPE_
	SGTYPE_VAL_
	SG_MUL_VAL_
	SIGTYPE_VALTYPE_
	SIG_GROUP_
	SIG_TYPE_REF_
	SIG_VALTYPE_
	VAL_
	VAL_TABLE_

BS_:

BU_: DBG DRIVER MOTOR SENSOR GEO

BO_ 100 DRIVER_HEARTBEAT: 1 DRIVER
 SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" SENSOR,MOTOR

BO_ 101 MOTOR_SPEED: 1 DRIVER
 SG_ DC_MOTOR_DRIVE_SPEED_sig : 0|8@1+ (0.1,-10) [-10|10] "kph" MOTOR

BO_ 102 MOTOR_ANGLE: 1 DRIVER
 SG_ SERVO_STEER_ANGLE_sig : 0|8@1+ (1,-45) [-45|45] "degrees" MOTOR


BO_ 200 SENSOR_SONARS: 4 SENSOR
 SG_ SENSOR_SONARS_left : 0|8@1+ (1,0) [0|158] "inch" DRIVER
 SG_ SENSOR_SONARS_right : 8|8@1+ (1,0) [0|158] "inch" DRIVER
 SG_ SENSOR_SONARS_front : 16|8@1+ (1,0) [0|158] "inch" DRIVER
 SG_ SENSOR_SONARS_rear : 24|8@1+ (1,0) [0|158] "inch" DRIVER

BO_ 202 GPS_DESTINATION_LOCATION: 8 SENSOR
 SG_ GPS_DEST_LAT_SCALED_1000000 : 0|32@1- (1,0) [0|0] "Degrees" GEO
 SG_ GPS_DEST_LONG_SCALED_1000000 : 32|32@1- (1,0) [0|0] "Degrees" GEO

BO_ 203 GEO_STATUS: 8 GEO
 SG_ GEO_STATUS_COMPASS_HEADING : 0|12@1+ (0.1,0) [0|359.9] "Degrees" DRIVER,SENSOR
 SG_ GEO_STATUS_COMPASS_BEARING: 12|12@1+ (0.1,0) [0|359.9] "Degrees" DRIVER,SENSOR
 SG_ GEO_STATUS_DISTANCE_TO_DESTINATION : 24|16@1+ (0.01,0) [0|0] "Meters" DRIVER,SENSOR

BO_ 204 GPS_CURRENT_INFO: 8 GEO
 SG_ GPS_CURRENT_LAT_SCALED_1000000 : 0|32@1- (1,0) [0|0] "degrees" DRIVER,SENSOR,MOTOR
 SG_ GPS_CURRENT_LONG_SCALED_1000000 : 32|32@1- (1,0) [0|0] "degrees" DRIVER,SENSOR,MOTOR
 
BO_ 205 GPS_CURRENT_DESTINATIONS_DATA: 8 GEO
 SG_ CURRENT_DEST_LAT_SCALED_1000000 : 0|32@1- (1,0) [0|0] "Degrees" DRIVER
 SG_ CURRENT_DEST_LONG_SCALED_1000000 : 32|32@1- (1,0) [0|0] "Degrees" DRIVER

BO_ 206 BRIDGE_APP_COMMANDS: 1 SENSOR
 SG_ APP_COMMAND : 0|2@1+ (1,0) [0|0] "" GEO,DRIVER

BO_ 300 MOTOR_STATUS: 3 MOTOR
 SG_ MOTOR_STATUS_wheel_error : 0|1@1+ (1,0) [0|0] "" DRIVER,IO
 SG_ MOTOR_STATUS_speed_kph : 8|16@1+ (0.001,0) [0|0] "kph" DRIVER,IO
 
BO_ 401 MOTOR_DEBUG: 1 MOTOR
 SG_ IO_DEBUG_test_unsigned : 0|8@1+ (1,0) [0|256] "sec" DBG

CM_ BU_ DBG "The debugging node for testing dbc with the car";
CM_ BU_ DRIVER "The driver controller driving the car";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BU_ SENSOR "The sensor controller of the car";
CM_ BU_ GEO "The geological Controller of the car";
CM_ BO_ 100 "Sync message used to synchronize the controllers";
CM_ SG_ 100 DRIVER_HEARTBEAT_cmd "Heartbeat command from the driver";
CM_ SG_ 101 DC_MOTOR_DRIVE_SPEED_sig "The speed in kph to set the motor speed. TODO: choose kph/mph";
CM_ SG_ 102 SERVO_STEER_ANGLE_sig "The direction in degrees to set the RC car servo direction.";

BA_DEF_ "BusType" STRING ;
BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0;
BA_DEF_ SG_ "FieldType" STRING ;

BA_DEF_DEF_ "BusType" "CAN";
BA_DEF_DEF_ "FieldType" "";
BA_DEF_DEF_ "GenMsgCycleTime" 0;

BA_ "GenMsgCycleTime" BO_ 100 1000;
BA_ "GenMsgCycleTime" BO_ 200 50;
BA_ "FieldType" SG_ 100 DRIVER_HEARTBEAT_cmd "DRIVER_HEARTBEAT_cmd";

VAL_ 100 DRIVER_HEARTBEAT_cmd 2 "DRIVER_HEARTBEAT_cmd_REBOOT" 1 "DRIVER_HEARTBEAT_cmd_SYNC" 0 "DRIVER_HEARTBEAT_cmd_NOOP" ;





Sensor and Bridge Controller

Hardware Design - Ultrasonic Sensors

We used HC-SR04 ultrasonic sensors for obstacle detection. It could provide a range from 2 cm to 400 cm non-contact measurement. The ranging accuracy is approximately 3mm and the effectual angle is less than 15°. It needs to be powered by a 5V power supply.

HC-SR04 specifications and dimensions
  • Working Voltage: DC 5V
  • Working Current: 15mA
  • Working Frequency: 40Hz
  • Max Range: 4m
  • Min Range: 2cm
  • Measuring Angle: 15 degree
  • Trigger Input Signal: 10µS TTL pulse
  • Echo Output Signal Input TTL lever signal and the range in proportion
  • Dimensions: 45 * 20 * 15mm

The pinout and the timing diagram of the HC-SR04 sensor is shown the following figures.

HC-SR04 Pinout
HC-SR04 Timing Diagram
SJ2-Ultrasonic sensor connections

Software Design - Ultrasonic Sensors

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

Technical Challenges

< List of problems and their detailed resolutions>


Motor ECU

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>


Geographical Controller

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>



Communication Bridge Controller & LCD

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>


Master Module

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>


Mobile Application

<Picture and link to Gitlab>

Hardware Design

Software Design

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

Technical Challenges

< List of problems and their detailed resolutions>




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 ===

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