F14: Team4-Self Driving Car - AUG

Team Members & Responsibilities

• Sensor Controller:
  • Chinmay Vaidya
  • Manuj Shinkar
• Motor Controller:
  • Viral Agrawal
  • Mitesh Sanghvi
• I/O Unit:
  • Tej Kogekar
  • Mayur Salve
• Communication Bridge + Android:
  • Jayanth Nallapothula
  • Manish Mandalik
  • Kwun Fung Ng (Daniel)
• Geographical Controller:
  • Ishan Bhavsar
  • Tanuj Chirimar
  • Sushant Potdar
• Master Controller:
  • Dhaval Parikh
  • Harita Dhiren Parekh
  • Rutwik Kulkarni

Schedule

Sensor Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	09/14/2014	09/20/2014	Understanding the logic of sensors to be used	Completed	09/20/2014
2	09/21/2014	10/04/2014	Writing the codes for the different types of sensors	Completed	10/04/2014
3	10/05/2014	10/11/2014	Testing the different sensors for accuracy and placing the order for the one we have selected.	Completed	10/11/2014
4	10/12/2014	10/25/2014	Build CAN transceiver and send data to the Master Board	Ongoing	YTD
5	10/26/2014	11/01/2014	Place all the sensors on car and test for obstacle avoidance	Scheduled	YTD
6	11/02/2014	11/14/2014	Work on light and tilt sensors	Scheduled	YTD
7	11/15/2014	12/09/2014	Final testing and debugging	Scheduled	YTD

Motor Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	09/14/2014	09/20/2014	Understand the logic of Motor Controller present in the RC Car	Completed	09/20/2014
2	09/21/2014	09/27/2014	Replace on-board controller with SJSU One board	Completed	09/22/2014
3	09/28/2014	10/04/2014	Drive the DC motor with SJSU One board at different Duty Cycles	Completed	09/30/2014
4	10/05/2014	10/11/2014	Test the Servo and DC motor together for moving forward and taking turns	Completed	10/09/2014
5	10/12/2014	10/18/2014	Build CAN Transceiver and move the car as per the CAN message received	Completed	10/13/2014
6	10/19/2014	10/25/2014	Make arrangement for CAN subscription task	Scheduled	YTD
7	10/26/2014	11/01/2014	Interface encoder and calculate the actual speed at which car is running	Scheduled	YTD
8	11/02/2014	11/08/2014	Make compensation algorithm and make car to move at desired speed	Scheduled	YTD
9	11/09/2014	12/09/2014	Final testing and debugging	Scheduled	YTD

I/O Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	09/14/2014	09/20/2014	Search and order GLCD module with touch screen, LEDs for headlights	Completed	09/20/2014
2	09/21/2014	10/04/2014	Study of GLCD data frame formats and design GUI	Completed	10/03/2014
3	10/05/2014	10/11/2014	Development of GLCD functions including touchscreen handler	Completed	10/11/2014
4	10/12/2014	10/25/2014	Setup CAN subscription tasks for communication with Master controller	In Progress	10/22/2014
5	10/26/2014	11/01/2014	Develop hardware and code for automatic headlight control, battery health indication	Scheduled	YTD
6	11/02/2014	11/14/2014	Build hardware for switches and write interrupt handlers for the same	Scheduled	YTD
7	11/15/2014	12/09/2014	Mount GLCD, headlights, switches on car and final testing	Scheduled	YTD

Communication Bridge + Android Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	09/14/2014	09/20/2014	Google maps API research	Completed	09/20/2014
2	09/21/2014	10/04/2014	Mock locations on Google maps and simulate co-ordinates w/o gps	Completed	10/04/2014
3	10/05/2014	10/11/2014	Two way Bluetooth communication and setup RTOS tasks	Completed	10/11/2014
4	10/12/2014	10/25/2014	Raw GUI for app and setup CAN tasks for communication with GPS, sensor etc.	In Progress	10/25/2014
5	10/26/2014	11/01/2014	Establish reliable communication and setup all fanout and subscription tasks	Scheduled	YTD
6	11/02/2014	11/14/2014	Improve GUI and add additional features	Scheduled	YTD
7	11/15/2014	12/09/2014	Final testing and verification	Scheduled	YTD

GEO Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	09/7/2014	09/14/2014	Market research for GPS and Compass Modules	Completed	09/14/2014
2	09/14/2014	09/21/2014	Place order / receive the modules	Completed	09/20/2014
3	09/21/2014	09/28/2014	nterface GPS with SJ -One board via UART	Completed	09/26/2014
4	09/28/2014	10/05/2014	Interface Compass with SJ-One Board via I2C	Completed	10/03/2014
5	10/05/2014	10/12/2014	Parsing the GPS data stream	Completed	10/11/2014
6	10/12/2014	10/19/2014	Calibration and testing of compass	Completed	10/13/2014
7	10/12/2014	10/19/2014	Decide CAN message ID’s and message formats	In-Progress	TBD
8	10/19/2014	10/26/2014	Combining UART and GPS parsing. Create task for GPS	Scheduled	TBD
9	10/19/2014	10/26/2014	Combining compass calibration and i2c interface. Create task for Compass	Scheduled	TBD
10	10/26/2014	11/02/2014	Final CAN subscription and Implementation of CAN communication with other modules	Scheduled	TBD
11	11/02/2014	12/09/2014	Testing and debugging on car	Scheduled	TBD

Master Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	09/7/2014	09/13/2014	Understanding CAN Bus and API's	Completed	09/13/2014
2	09/14/2014	09/20/2014	Deciding System Flow	In-Progress	TBD
3	09/21/2014	09/27/2014	Deciding MSG id's for all devices	In-Progress	TBD
4	09/28/2014	10/11/2014	Testing Subscription between 2 devices	Completed	10/4/2014
5	09/28/2014	10/11/2014	Making CAN bus hardware to interface all SJOne boards	Completed	10/11/2014
6	09/28/2014	10/11/2014	Testing subscription and time sync between all devices	Completed	10/11/2014
7	10/12/2014	10/18/2014	Reading sensor data from boards at the subscription rate	On-going	TBD
8	10/19/2014	11/1/2014	Algorithm for obstacle avoidance	Scheduled	TBD
9	11/2/2014	11/15/2014	Algorithm for GPS based navigation	Scheduled	TBD
10	11/16/2014	11/22/2014	Initial testing and tweaking of the car	Scheduled	TBD
11	11/23/2014	12/9/2014	Final Testing! Showdown time!	Scheduled	TBD

Parts List & Cost

Qty	Description	Manufacturer	Part Number	Total Cost
1	RC Car	-	-	$$$
10	CAN transceivers	-	-	Free
1	GPS module	-	-	$$
1	Magnetometer Module	-	-	$
1	Ultrasonic Sensor	-	-	$$
1	Misc Components	-	-	$
	Total Cost			INCREASING!!

Backup Parts & cost

Qty	Description	Manufacturer	Part Number	Total Cost

Design & Implementation

CAN 11-bit ID Format

MSG	DST	SRC
5 bits (11-6)	3 bits (5-3)	3 bits (2-0)

Controller ID Table

Controller ID	Controller Type
001	Motor Controller
010	Master Controller
011	Sensor Controller
100	GEO Controller
110	Communication Bridge + Android Controller
111	I/O Controller

Controller Communication Table

Incoming Messages					Outgoing Messages
Sl. No	Message ID	Message Description	Message Data		Message ID	Message Description	Message Data
Master
1	0x090	Heartbeat Response / Acknowledgement	N/A		N/A	N/A	N/A
2	0x116	Power On/Off Command	On/Off byte		N/A	N/A	N/A
3	0x117	Power On/Off Command	On/Off Byte		N/A	N/A	N/A
4	0x213	Front/Read Sensor Data	Sensor Data		N/A	N/A	N/A
5	0x294	Current Location & Direction of Car	Location Co-ordinates, Orientation, Direction for Motor		N/A	N/A	N/A
6	0x316	Next Checkpoint	Co-ordinates of Next Location		N/A	N/A	N/A
7	0x3D3	Other Sensor Data	Light & Tilt Sensor Data		N/A	N/A	N/A
8	0x411	Encoder Data	Speed Sensor Data		N/A	N/A	N/A
9	N/A	N/A	N/A		0x14A	Motor Speed & Direction	Motor Speed and Angle
10	N/A	N/A	N/A		0x372	Current Location of Car from GPS	Location
11	N/A	N/A	N/A		0x3B2	Sensor Value and Status	Sensor Readings
12	N/A	N/A	N/A		0x3BA	Sensor Value and Status	Sensor Readings
Motor
13	0x14A	Motor Speed & Direction	Motor Speed & Angle		N/A	N/A	N/A
14	0x44A	Subscription Message from Master	N/A		0x411	Speed Sensor Data	Speed Sensor Data
15	0x44B	Subscription Message from I/O	N/A		0x419	Motor Speed & Direction	Motor Speed and Angle
16	0x44E	Subscription Message from Android	N/A		0x431	Motor Speed & Direction	Motor Speed and Angle
Sensor
17	0x19A	Subscription Message from Master for Front Sensor	N/A		0x213	Sensor Data	Front Sensor Data
18	0x1DA	Subscription Message from Master for Rear Sensor	N/A		0x213	Sensor Data	Rear Sensor Data
GEO
19	0x322	Message to send Next Checkpoint	N/A		0x316	Next Checkpoint	Co-ordinates of Next Checkpoint
20	0x462	Subscription Message from Master	N/A		0x294	Current Location & Direction	Co-ordinates, Orientation & Direction
Communication Bridge + Android
21	0x2F2	Message to send intermediate checkpoints	N/A		0x316	Next Checkpoint	Co-ordinates of Next Checkpoint
22	0x372	Current Location of car from GPS	Co-ordinates of Current Location		N/A	N/A	N/A
23	0x3B2	Sensor Value & Status	Sensor Reading & Status of each Module		N/A	N/A	N/A
I/O
24	0x3BA	Sensor Value & Status	Sensor Reading & Status of each Module		N/A	N/A	N/A

Testing & Technical Challenges

Sl. No	Test Case	Test Description	Result

References

References Used

1. Preetpal Kang, Lecture notes of CMPE 243, Computer Engineering, Charles W. Davidson College of Engineering, San Jose State University, Aug-Dec 2014.
2. en.wikipedia.org/