F14: Team2-Self Driving Car - AUG

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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's
Controller ID Controller Type
0x050 Master Controller
0x051 Geographical Controller
0x052 Motor Controller
0x053 Sensor Controller
0x054 IO Controller
0x055 App/Bridge Controller
Master
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
Geographical Controller
Message ID Description
0x41C Subscribe to Compass Data
0x51C Publish Compass Data
Motor
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
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

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/