F14: Team2-Self Driving Car - AUG
From Embedded Systems Learning Academy
Revision as of 05:40, 22 October 2014 by Proj user3 (talk | contribs) (→Controller Communication Table)
Contents
- 1 Self Driving Car
- 2 Abstract
- 3 Objective and Scope
- 4 Team Members & Responsibilities
- 5 Introduction
- 6 Schedule
- 7 Parts List & Cost
- 8 Backup Parts & cost
- 9 Design & Implementation
- 10 Testing & Technical Challenges
- 11 Challenges and Learning
- 12 Future Enhancement
- 13 Conclusion
- 14 Project Video
- 15 Project Source Code
- 16 References
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 | Controller Type |
| 0x050 | Master Controller |
| 0x051 | Geographical Controller |
| 0x052 | Motor Controller |
| 0x053 | Sensor Controller |
| 0x054 | IO Controller |
| 0x055 | App/Bridge Controller |
| Message ID | Description |
| 0x40A | Subscribe to Motor Data |
| 0x40B | Subscribe to Motor Speed |
| 0x40C | Subscribe to Motor Direction |
| 0x50A | Publish Motor Data |
| 0x50B | Publish Motor Speed |
| 0x50C | Publish Motor Direction |
| Message ID | Description |
| 0x42A | Set Motor Data |
| 0x42B | Set Motor Speed |
| 0x42C | Set Motor Direction |
| 0x52A | Accept Motor Data |
| 0x52B | Accept Motor Speed |
| 0x52C | Accept Motor Direction |
| Message ID | Description |
| 0x41C | Subscribe to Compass Data |
| 0x51C | Publish Compass Data |
| Message ID | Description |
| TBD | Subscribe to Sensor Data |
| TBD | Publish Sensor Data |
| Message ID | Description |
| TBD | Subscribe to IO Data |
| TBD | Publish IO Data |
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
- Preetpal Kang, Lecture notes of CMPE 243, Computer Engineering, Charles W. Davidson College of Engineering, San Jose State University, Aug-Dec 2014.
- en.wikipedia.org/
