Difference between revisions of "F14: Team2-Self Driving Car - AUG"

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Revision as of 07:41, 22 October 2014

Self Driving Car

Abstract

Objective and Scope

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

Introduction

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 Table
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 MessageID Table
SubscribeID Description PublishID Description
0x40A Subscribe to Sensor Data 0x50A Publish Sensor Data (Response of 0x40A)
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

Challenges and Learning

Future Enhancement

Conclusion

Project Video

Project Source Code

References

Acknowledgement

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/
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