F14: Team2-Self Driving Car - AUG

Team Members & Responsibilities

• Sensor Controller
  • Amey Patil
  • Sujith Durgad
  • Arvind Allawadi

• Motor Controller and Power
  • Digvijay Patil
  • Rohan Jani
  • Mahesh Chudasama

• Display
  • Mradula Nayak
  • Karthik Govindaswamy

• Communication Bridge + Android
  • Siddhata Patil
  • Mohammed Raashid Kheruwala

• Geographical Controller
  • Yash Parulekar
  • Ajinkya Khasnis
  • Harsh Lavingia
  • Anand Dumbre

• Master Controller
  • Pradyumna Upadhya
  • Huzefa Siyamwala

Schedule

Common Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	9/16/2014	10/7/2014	Finish Ordering project hardware parts	Ongoing. Few sensors are yet to be ordered.	TBD
2	10/5/2014	10/21/2014	Fine tune subscriber code	Ongoing	TBD
3	10/7/2014	10/21/2014	Finish Development of CAN Transceiver boards	Ongoing	TBD
4	10/5/2014	11/4/2014	Sub teams finalize and implement dependency code(atleast single API per team)	Ongoing	TBD
5	10/5/2014	10/28/2014	Finish hardware	Ongoing	TBD
6	10/28/2014	TBD	Start testing and finish it	Scheduled	TBD

Master Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	9/30/2014	10/21/2014	Fine tune subscriber code and finalize CAN apis required from other boards	Ongoing	TBD
2	10/5/2014	10/21/2014	Fine tune subscriber code	Ongoing	TBD
3	10/5/2014	10/21/2014	Develop CAN Transceiver Board	Ongoing	TBD
4	10/5/2014	11/4/2014	Implement API co-ordination logic and test with other boards APIs	Ongoing	TBD
5	10/28/2014	TBD	Test hardware and software and fix bugs	Scheduled	TBD

GEO Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	9/16/2014	9/23/2014	Decided and then ordered GPS modem Received Compass module	Completed	9/23/2014
2	9/23/2014	9/30/2014	Acquired GPS modem Interface Compass with SJOne Board via I2C	Completed	9/30/2014
3	9/30/2014	10/7/2014	Designing GPS driver Test code to get compass heading information	OnGoing Completed	TBD
4	10/7/2014	10/21/2014	Integration of GPS with the main board CAN RX task and subscription handling	In Progress	TBD
5	10/21/2014	11/04/2014	Test communication with the Master Determine final heading using GPS location and compass reading	Scheduled	TBD
6	11/04/2014	11/18/2014	Test and debug, Make necessary changes in the driver Compass Calibration	Scheduled	TBD

Motor Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	9/30/2014	10/7/2014	Understand the SERVO and DC motor controller signals	Completed	10/4/2014
2	10/4/2014	10/11/2014	Interface SJSU one board to SERVO and DC motor controller	Completed	10/10/2014
3	10/7/2014	10/18/2014	Develop CAN transceiver boards	Completed	10/12/2014
4	10/12/2014	10/26/2014	Design and Develop unified power distribution circuit and hardware structure for RC car	Scheduled	TBD
5	10/19/2014	TBD	Interface motor SJSU board with master SJSU board for motion tuning	Scheduled	TBD

I/O Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	9/16/2014	9/23/2014	Decided and then ordered display module	Completed	9/23/2014
2	9/24/2014	10/7/2014	Setting up the GIT	Completed	10/14/2014
3	10/7/2014	10/14/2014	Interfacing LCD with SPI interface on SJONE board	On Going	TBD
4	10/7/2014	10/14/2014	CAN interface and subscription tasks	On Going	TBD
5	10/15/2014	10/21/2014	Reading Sensor data and Location Values	Scheduled	TBD
6	10/21/2014	10/28/2014	To interface buttons with motors to start and stop the car	Scheduled	TBD

Communication Bridge + Android Team Schedule

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	9/16/2014	9/23/2014	Design UI of the Android App	Completed	9/23/2014
2	9/23/2014	9/30/2014	Interface and pairing the Android App with Bluetooth module	Completed	9/30/2014
3	9/30/2014	10/7/2014	Implementation of first stage of Android App (Frame 1: Sending data via Bluetooth to give directions for the car)	Completed	10/4/2014
4	10/7/2014	10/14/2014	Implementation of second stage of Android App (Bridge between Android, UART and Master)	Completed	10/16/2014
5	10/14/2014	10/28/2014	Implementation of second stage of Android App (Frame 2: collecting reliable sensor data(8 ultrasonic, gps coordinates, speed ) )	Ongoing	TBD
6	10/28/2014	11/18/2014	Implementation of third stage of Android App (Frame 3: Navigation using markers and CLL coordinate system)	Scheduled	TBD
7	11/18/2014	11/25/2014	Testing and improving the UI of to the App	Scheduled	TBD

Sensor Controller

Sl. No	Start Date	End Date	Task	Status	Actual Completion Date
1	10/3/2014	10/10/2014	Developing a Test code for sensors	Completed	10/14/2014
2	10/10/2014	10/17/2014	Finalizing on the sensors	Completed	10/14/2014
3	10/17/2014	10/24/2014	Transfer of sensor data via can bus to master	Completed	10/21/2014
4	10/24/2014	10/30/2014	Implementation with multiple sensors	Ongoing	TBD
5	10/30/2014	11/6/2014	Implementation of Light Sensors and Tilt Sensor	Scheduled	TBD

Parts List & Cost

Qty	Description	Manufacturer	Part Number	Total Cost
6	Ultra Sonic Sensor	Arduino	HC-SR04	12.58
1	Compass Module	Honeywell	HMC6352	Provided By Preet
1	GPS Receiver	MediaTek	LS20031 5Hz (66 Channel)	$59.95
1	RC car	Traxxas	1/10	$272
1	Bluetooth module	SunFounder	HC-06	$7.99

Backup Parts & cost

Qty	Description	Manufacturer	Part Number	Total Cost

Design & Implementation

Controller Communication Table

Controller ID Table

Controller ID	Controller
0x050	Master Controller
0x051	Geographical Controller
0x052	Motor Controller
0x053	Sensor Controller
0x054	IO Controller
0x055	App/Bridge Controller

Master Controller MessageID Table

SubscribeID	Description	PublishID	Description
0x42A	Subscribe to new motor data to be set	0x52A	Publish motor data (Response of 0x42A )
0x42B	Subscribe to new motor speed to be set	0x52B	Publish motor data (Response of 0x42B )
0x42C	Subscribe to new motor direction to be set	0x52C	Publish motor direction (Response of 0x42C )

Geographical Controller MessageID Table

SubscribeID	Description	PublishID	Description
0x40C	Subscribe to Compass Data	0x50C	Publish Compass Data (Response of 0x40C )
0x40B	Subscribe to GPS Data	0x50B	Publish GPS Data (Response of 0x40B )
0x40A	Subscribe to Geographical Data	0x50A	Publish Geographical Data (Response of 0x40A )

Motor Controller MessageID

SubscribeID	Description	PublishID	Description
0x40A	Subscribe to Motor Data	0x50A	Publish Motor Data (Response of 0x40A)
0x40B	Subscribe to Motor Speed	0x50B	Publish Motor Speed (Response of 0x40B)
0x40C	Subscribe to Motor Direction	0x50C	Publish Motor Direction (Response of 0x40C)

Sensor Controller

Message ID	Description
TBD	Subscribe to Sensor Data
TBD	Publish Sensor Data

IO Controller

Message ID	Description
TBD	Subscribe to IO Data
TBD	Publish IO Data

Android and Bridge

Message ID	Description
0x45A	Subscribe Stop command manually in case of emergency (Motor data to Master)
0x45B	Subscribe GPS longitude (GPS data to Master)
0x45C	Subscribe GPS latitude (GPS data to Master)
0x55A	Publish "start" message to send coordinates for navigation (IO data from Master)
0x55B	Publish reliable sensor value (Sensor data from Master)
0x55C	Publish current location (GPS data from Master)

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/