F15: Minion

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Grading Criteria

  • How well is Software & Hardware Design described?
  • How well can this report be used to reproduce this project?
  • Code Quality
  • Overall Report Quality:
    • Software Block Diagrams
    • Hardware Block Diagrams
      Schematic Quality
    • Quality of technical challenges and solutions adopted.

Minion

Abstract

This section should be a couple lines to describe what your project does.

Objectives & Introduction

Show list of your objectives. This section includes the high level details of your project. You can write about the various sensors or peripherals you used to get your project completed.

Team Members & Responsibilities

Sensor Controller:-

Motor & I/0 Controller:-

Communication Bridge & Android Controller:-

  • Akshay Kanchar
  • Asmita Deshpande

Geographical Controller:-

Master Controller:-

Tester:-

Treasurer:-

  • Keerthanaa Alagudurai

Hardware:-

  • Amit Pachore
  • Gaurao Chaudhari
  • Bhupendra Naphade

Release:-

  • Akshay Kanchar

Schedule

Common Schedule

Sl. No Start Date End Date Task Status Actual Completion Date
1 9/22/2015 9/28/2015 RC Car and important component buying Completed
2 9/29/2015 10/6/2015 1) Algorithm and architecture
2) Setup of car and decision on CAN Id's
Completed
3 10/7/2015 10/13/2015 1) Coding and final set-up of car
2) Successful communication of CAN bus.
3) Car in running position.
Completed
4 10/14/2015 10/20/2015 Sensor Data gathering and movement according to sensors. Completed
5 10/21/2015 10/27/2015 1) LCD Display working and finalizing the data to be displayed on LCD module.
2) GEO data gathering and controlling of car using Android module.
Completed
6 10/28/2015 11/3/2015 Integration of all the modules into one. Completed
7 11/4/2015 11/10/2015 Inclusion of new features in the car.
8 11/11/2015 11/17/2015 Testing depending upon the newly added features.
9 11/18/2015 11/24/2015 Testing of Car and testing the self driving capability Completed
10 11/25/2015 12/1/2015 Testing of Car

Sensor Controller Schedule

Sl. No Start Date End Date Task Status Actual Completion Date
1 9/20/2015 10/5/2015 Study available sensors and place order Completed 10/4/2015
2 10/6/2015 10/13/2015 Collaborate with the other sub teams to finish the CAN bus communication Completed 10/13/2015
3 10/13/2015 10/20/2015 Develop simple test code for the sensors Completed 10/18/2015
4 10/21/2015 10/30/2015 Interface all sensors and develop code for reading all sensors. Completed 10/30/2015
5 10/30/2015 11/2/2015 Positioning of sensors and identifying dead band if any Completed 11/2/2015
6 11/2/2015 11/5/2015 Work on light and battery sensor (optional)
7 11/06/2015 12/17/2015 Final testing and debugging

Motor & I/0 Controller Schedule

Sl. No Start Date End Date Task Status Actual Completion Date
1 9/21/2015 9/25/2015 Order LCD Display Completed 9/25/2015
2 9/28/2015 10/3/2015 Going through the motor concepts and PWM Completed 10/2/2015
3 10/4/2015 10/9/2015 Intreface the DC and SERVO Motors with SJONE board Completed 10/8/2015
4 10/10/2015 10/13/2015 Establishing basic CAN communication with other modules Completed 10/13/2015
5 10/11/2015 10/16/2015 Getting the car to run with the PWM signals from Motor controller Completed 10/15/2015
6 10/17/2015 10/23/2015 Research on Speed cotrol method and sensor for the same interface LCD display with LPC1758 via UART Completed 10/21/2015
7 10/23/2015 11/4/2015 Establishing reliable CAN communication for IO & Motor with others Completed 11/4/2015
8 11/5/2015 11/12/2015 Integrate Speed sensor and get feedback. Start working on start,stop buttons and headlight Completed 11/11/2015
9 11/13/2015 11/20/2015 Testing substantial self driving capability of the car Completed 11/20/2015
10 11/21/2015 11/30/2015 Complete integration, Debugging and Fine tuning Completed 11/30/2015
11 12/1/2015 12/5/2015 Final Validation

Geographical Controller Schedule

Sl. No Start Date End Date Task Status Actual Completion Date
1 09/27/2015 10/07/2015 Ordering Parts and understanding each module Completed 10/11/2015
2 10/07/2015 10/13/2015 CAN Communication with other boards and understanding each module Completed 10/13/2015
3 10/07/2015 10/30/2015 Algorithm for distance and heading calculation and coding Completed 10/30/2015
4 10/14/2015 10/20/2015 Interfacing of compass(I2C) and GPS (UART) with SJONE board Completed 10/20/2015
5 10/20/2015 10/30/2015 Coding, Compass Calibration,GPS Calibration Completed
5 10/25/2015 11/15/2015 Individual unit testing Completed
6 10/30/2015 11/30/2015 Interfacing with Android, Master and IO controllers
7 10/30/2015 11/30/2015 Integration Testing,On Car Calibration First level of On Car Calibration Completed

Master Controller Schedule

Sl. No Start Date End Date Task Status Actual Completion Date
1 09/30/2015 10/6/2015 a) Design of Algorithm and Architecture for Master Module.
b) Setup of CAN communication between two controllers.
Completed 10/6/2015
2 10/7/2015 10/13/2015 a) Development of CAN message system for Android, Sensor and GPS, I/O reception.
b) Decide about periodic function frequencies that’ll be handling different modules.
Completed 10/13/2015
3 10/14/2015 10/20/2015 a) Development of driving,stopping and obstruction avoidance algorithm for motor.
b) Implementation of LED Display to display number of messages on CAN bus.
c) Implementation of turning algorithm as per the data received from the Geo Controller.
Completed 10/20/2015
4 10/21/2015 10/27/2015 a) Designing of Kill switch with the help of Motor, I/O and Android.
b) Design the system to restore the last known configuration.
c) Implementation to reset modules if the CAN bus reaches BUS off state.
Completed 10/27/2015
5 10/28/2015 11/3/2015 a) Design of Head Light functionality with the help of Sensor module.
b) Implementation of log files saving to SD card.
Completed
6 11/4/2015 11/10/2015 a) Integration of all the modules with Master module and check it after combining everything.
b) Probable implementation of additional features.
On going
7 11/11/2015 11/17/2015 a) Refine the work done earlier.Change areas that need a change.
b) Test the Master module while all the modules are integrated together and list down modifications and additions to be done.
Completed
8 11/18/2015 11/24/2015 Testing of system and specially making sure that last week’s shortcomings are taken care of.
9 11/25/2015 12/1/2015 a) Final testing of individual modules.
b) Testing the self-driving capability of the car.
10 12/2/2015 12/8/2015 Final working on the shortcomings in the previous week.
11 12/9/2015 12/15/2015 Final Testing of Car.

Communication Bridge & Android Controller Schedule

Sl. No Start Date End Date Task Status Actual Completion Date
1 9/29/2015 10/06/2015 Ordering bluetooth module and setting up android dev enviornment Completed 10/06/2015
2 10/06/2015 10/13/2015 Implementing basic UI with Start and Stop buttons and testing bluetooth module Completed 10/12/2015
3 10/13/2015 10/27/2015 Integrating android app with bluetooth module and SJ One board Completed 11/01/2015
4 10/27/2015 11/03/2015 Establishing communication with other modules using CAN and testing Prototype Completed 11/07/2015
5 11/03/2015 11/17/2015 Enhancing UI features with Google Maps and display of sensor data from different modules Ongoing
6 11/17/2015 12/01/2015 Setting up Communication with GPS and Master and prototype testing
7 12/01/2015 12/08/2015 Final app testing

Parts List & Cost

Sr. No Part Name Source of Purchase Part Number Quantity Cost($)
1 RC Car Sheldons Hobbies 360541 Stampede RTR 1 239.99
2 Battery Sheldons Hobbies VEN1548 - 5000NiMh 7.2 V 1 44.99
3 Traxx AC Adaptor Sheldons Hobbies TRAXXAS 2976 AC Adaptor to 12V 1 24.99
4 Compass Dx.com HMC5883L Digital Compass Module - Blue 1 2.47
5 GPS Module Sparkfun.com SparkFun Venus GPS with SMA Connector GPS 11058 1 44.08
6 LCD module mouser.com NHD-0420D3Z-NSW-BBW-V3-ND 1 29.68
7 Bluetooth Module Amazon.com Sunkee HC-05 1 8.88
8 Ultrasonic sensors Amazon.com HC-SR04 10 17.38
9 PCB Amazon.com PCB 2 10.6
10 Female to Female connectors aliexpress.com Female to Female connectors 2 1.5
11 Compass aliexpress.com HMC5883L Digital Compass Module - Blue 1 6.73
12 GPS Antenna Sparkfun.com Antenna GPS Embedded SMA 1 19.49
13 female to female connectors+bergstrip+lm7805+SJ 32 pin socket Excess solution female to female connectors+bergstrip+lm7805+SJ 32 pin socket 1 4.7
14 Components Excess solution Connector+screws+Nuts+Standoffs 1 10
15 Component cable and led and other Excess solution Component cable and led and other 1 17.29

DBC Implementation

1) Generally, the data that is received from the CAN message is handles using structures. So, if there are numerous CAN messages, there will be the same number of structures. Also, if there is some encoding done at one end and the same message has to be decoded at the other end in exactly the opposite way. So, if there are a lot number of messages and their respective structures, encoding logic and decoding logic, there would be a lot of efforts to write that code. Instead of that, a generalized DBC format is used to write this entire code on its own. DBC file format is an easy way to get ready with the structures and encoding, decoding of the CAN messages. The DBC format has some specific format and provides the auto generated code for all the modes on the CAN bus. 2) The following DBC file gives the proper description of CAN messages used in our car.

   VERSION ""

NS_ : NS_DESC_ CM_ BA_DEF_ BA_ VAL_ CAT_DEF_ CAT_ FILTER BA_DEF_DEF_ EV_DATA_ ENVVAR_DATA_ SGTYPE_ SGTYPE_VAL_ BA_DEF_SGTYPE_ BA_SGTYPE_ SIG_TYPE_REF_ VAL_TABLE_ SIG_GROUP_ SIG_VALTYPE_ SIGTYPE_VALTYPE_ BO_TX_BU_ BA_DEF_REL_ BA_REL_ BA_DEF_DEF_REL_ BU_SG_REL_ BU_EV_REL_ BU_BO_REL_ SG_MUL_VAL_

BS_: BU_: NOONE SENSOR MASTER MOTORIO ANDROID GEO
BO_ 220 MOTORIO_CMD: 4 MASTER SG_ MOTORIO_CMD_LeftRightdirection : 0|8@1+ (1,0) [0|2] "" MOTORIO SG_ MOTORIO_CMD_LevelOfDirection : 8|8@1+ (1,0) [0|5] "" MOTORIO SG_ MOTORIO_CMD_FrontBackDirection : 16|8@1+ (1,0) [0|2] "" MOTORIO SG_ MOTORIO_CMD_LevelOfSpeed : 24|8@1+ (1,0) [0|5] "" MOTORIO
BO_ 010 KILL_REQUEST: 0 ANDROID SG_ KILL_REQUEST : 0|0@1+ (1,0) [0|0] "" MASTER
BO_ 020 KILL_MESSAGE: 0 MASTER SG_ KILL_REQUEST : 0|0@1+ (1,0) [0|0] "" MOTORIO,SENSOR,GEO,ANDROID
BO_ 030 STOP_REQUEST: 0 ANDROID SG_ STOP_REQUEST : 0|0@1+ (1,0) [0|0] "" MASTER
BO_ 040 STOP_COMMAND: 0 MASTER SG_ ANDROID_HEARTBEAT_cmd : 0|0@1+ (1,0) [0|0] "" MOTOR
BO_ 210 SONARS: 4 SENSOR SG_ SENSOR_SONARS_FrontDistance : 0|8@1+ (1,0) [0|0] "" MASTER,MOTORIO SG_ SENSOR_SONARS_LeftDistance : 8|8@1+ (1,0) [0|0] "" MASTER,MOTORIO SG_ SENSOR_SONARS_RightDistance : 16|8@1+ (1,0) [0|0] "" MASTER,MOTORIO SG_ SENSOR_SONARS_RearDistance : 24|12@1+ (1,0) [0|0] "" MASTER,MOTORIO
BO_ 230 TOTAL_DISTANCE_TO_TRAVEL: 4 ANDROID SG_ TOTAL_DISTANCE_TO_TRAVEL: 0|16@1+ (1,0) [0|0] "" GEO
BO_ 240 SEND_CHECKPOINTS: 8 ANDROID SG_ SEND_CHECKPOINTS_Latitude: 0|32@1+ (1,0) [0|0] "" GEO SG_ SEND_CHECKPOINTS_Longitude: 32|64@1+ (1,0) [0|0] "" GEO
BO_ 250 DISTANCE: 4 GEO SG_ DISTANCE_FinalDistance : 0|16@1+ (1,0) [0|0] "" MASTER SG_ DISTANCE_CheckpointDistance : 16|16@1+ (1,0) [0|0] "" MASTER
BO_ 260 TURN_ANGLE_DIRECTION: 2 GEO SG_ TURN_ANGLE_DIRECTION_TurnAngle : 0|8@1+ (1,0) [0|0] "" MASTER SG_ TURN_ANGLE_DIRECTION_TurnDirection : 8|8@1+ (1,0) [0|0] "" MASTER
BO_ 270 RUN_PAUSE: 0 ANDROID SG_ RUN_PAUSE : 0|0@1+ (1,0) [0|0] "" MASTER
BO_ 280 HEARTBEAT_: 0 MOTORIO SG_ MOTORIO_HEARTBEAT_cmd : 0|0@1+ (1,0) [0|0] "" MASTER
BO_ 281 HEARTBEAT: 0 GEO SG_ GEO_HEARTBEAT_cmd : 0|0@1+ (1,0) [0|0] "" MASTER
BO_ 282 HEARTBEAT: 0 ANDROID SG_ ANDROID_HEARTBEAT_cmd : 0|0@1+ (1,0) [0|0] "" MASTER
BO_ 283 HEARTBEAT: 0 SENSOR SG_ SENSOR_HEARTBEAT_cmd : 0|0@1+ (1,0) [0|0] "" MASTER
BO_ 410 DESTINATION_REACHED: 0 MASTER SG_ SENSOR_HEARTBEAT_cmd : 0|0@1+ (1,0) [0|0] "" MASTER
BO_ 420 BATTERY_STATUS: 1 SENSOR SG_ BATTERY_STATUS_VALUE : 0|0@1+ (1,0) [0|0] "" MASTER,MOTORIO
BO_ 610 BOOT_REQUEST: 0 MASTER SG_ BATTERY_STATUS_VALUE : 0|0@1+ (1,0) [0|0] "" MOTORIO,SENSOR,ANDROID,GEO
BO_ 620 BOOT_REPLY_MOTORIO: 0 MOTORIO SG_ BOOT_REPLY_MOTORIO : 0|0@1+ (1,0) [0|0] "" MASTER
BO_ 621 BOOT_REPLY_SENSOR: 0 SENSOR SG_ BOOT_REPLY_SENSOR : 0|0@1+ (1,0) [0|0] "" MASTER
BO_ 622 BOOT_REPLY_GEO: 0 GEO SG_ BOOT_REPLY_GEO : 0|0@1+ (1,0) [0|0] "" MASTER
BO_ 623 BOOT_REPLY_ANDROID: 0 ANDROID SG_ BOOT_REPLY_ANDROID : 0|0@1+ (1,0) [0|0] "" MASTER
BO_ 630 BOOT_STATUS: 0 MASTER SG_ BOOT_STATUS : 0|0@1+ (1,0) [0|0] "" MOTORIO,ANDROID
BO_ 650 SOURCE_COORDINATE: 8 GEO SG_ SOURCE_COORDINATE_LATITUDE : 0|32@1+ (1,0) [0|0] "" ANDROID SG_ SOURCE_COORDINATE_LONGITUDE : 32|32@1+ (1,0) [0|0] "" ANDROID
CM_ BU_ NOONE "No node, used to indicate if it's a debug message going to no one."; CM_ BU_ MASTER "The Master controller driving the car."; CM_ BU_ SENSOR "The Sensor controller of the car."; CM_ BU_ MOTORIO "The Motor-IO controller of the car."; CM_ BU_ ANDROID "The Android controller of the car."; CM_ BU_ GEO "The Geo controller of the car."; CM_ BO_ 100 "Sync message used to synchronize the controllers";
BA_DEF_ "BusType" STRING ; BA_DEF_ SG_ "FieldType" STRING ; BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0;
BA_DEF_DEF_ "BusType" "CAN"; BA_DEF_DEF_ "FieldType" "";
BA_ "GenMsgCycleTime" BO_ 220 10; BA_ "GenMsgCycleTime" BO_ 210 10; BA_ "GenMsgCycleTime" BO_ 250 10; BA_ "GenMsgCycleTime" BO_ 260 10; BA_ "GenMsgCycleTime" BO_ 280 1; BA_ "GenMsgCycleTime" BO_ 281 1; BA_ "GenMsgCycleTime" BO_ 282 1; BA_ "GenMsgCycleTime" BO_ 283 1; BA_ "GenMsgCycleTime" BO_ 420 1;
VAL_ 100 MASTER_HEARTBEAT_cmd 0 "MASTER_HEARTBEAT_cmd_NOOP" 1 "MASTER_HEARTBEAT_cmd_SYNC" 2 "MASTER_HEARTBEAT_cmd_REBOOT";

3) The above file shows the detailed implementation of the CAN messages used in this project. There are a lot of notations used in this dbc file. Following is the explanation of each of the notations in details. The following explanation gives the detailed information on each of the message. The information includes, what is the range of the message data, the minimum and maximum number to be sent, the number of databits used in the entire 64 bit structure. The beautiful feature of the CAN messages frame is that we can use bit by bit data. So, there is no wastage of data-bytes.

4) Detailed explanation of notations used in CAN dbc file format-

       a. BU_: NOONE SENSOR MASTER MOTORIO ANDROID GEO
          The line which is starting with BU_ gives us the information about all the controllers present in the communication BUS.
b. BO_ 220 MOTORIO_CMD: 4 MASTER i. This is the message command which states the message ID. Here 220 is the message ID used for Motor command from Master to Motor. ii. The name of the message is MOTORIO_CMD which forms a string of the structure to be created in the auto generated code. iii. Here the last text is written as MASTER, which says that the message is originating from MASTER.
c. SG_ MOTORIO_CMD_LeftRightdirection : 0|8@1+ (1,0) [0|2] "" MOTORIO i. The line has SG_ in the beginning and is known as the signal. This command tells us about the number of different data in the CAN message. ii. 0|8 -> 0 is the start bit of the data in the CAN message and 8 is the length of the data in the CAN message. iii. [0|2] -> 0 is the minimum value of the data and 2 is the maximum value of the message. iv. The last text MOTORIO defines the number of receivers of the message. There can be more than one receivers. If there are, then they are separated by a comma. v. Here ‘MOTORIO_CMD_LeftRightdirection’ is the name of the data that is being transmitted in the message.
d. BA_ "GenMsgCycleTime" BO_ 220 10 i. This command describes the general message cycle. ii. Here the message 220 i.e the motor command repeats itself after every 10 Hz i.e 100 ms. iii. Similarly, there are some message which repeats after every 1 Hz.

5) The dbc file was created with these normal basic command and was sent as an input to the python dbc parser which decrypted it to the auto generated code. Following is the python command for the dbc parser:

       >python.exe dbc_parse.py -i Group2.dbc -s MASTER -a -b >generated.h

Design & Implementation

CAN Communication Table

Sr. No Message ID Message function Message Data From To
High
1 0x220 Motor Control
(Direction Control- Straight, Left or Right
Level of Direction-Level 0, Level1, Level 2
Motion Control- Stop, Forward or Reverse
Speed Control - Stop, Level1, Level2 or Level3)
Byte[0] -> Direction Control
Byte[1] -> Level of Direction
Byte[2] -> Motion Control
Byte[3] -> Speed Control
Master Motor
2 0x010 Kill Message
(User request to stop the car under emergency)
Control Frame. No data bytes. Android Master
3 0x020 Kill Message
(Master request to stop all controllers and reboot
under emergency)
Control Frame. No data bytes. Master All
4 0x030 Stop
(User request to stop the car)
Control Frame. No data bytes. Android Master
5 0x040 Stop
(Master stops the motor)
Control Frame. No data bytes. Master Motor
6 0x210 Sensor Data
(Distance in cms)
Byte[0] -> Forward Distance
Byte[1] -> Left Distance
Byte[2] -> Right Distance
Byte[3] -> Back Distance
Sensor Master/Motor-IO
7 0x230 Total Distance to Travel Byte[0-1] Android Geo
8 0x240 Send Checkpoints Byte[0-3] -> Latitude
Byte[4-7] -> Longitude
Android Geo
9 0x250 Distance
(Distance in foot)
Byte[0-1] -> Final Distance remaining
Byte[2-3] -> Checkpoint distance
Geo Master
10 0x260 Turn Angle and Direction Byte[0] -> Turn Angle
Byte[1] -> Direction
(1-Left,2-Right)
Geo Master
11 0x270 Run and Pause Command Control Frame. No data bytes Android Master
12 0x280 Heartbeat Message Control Frame. No data bytes Motor Master
13 0x281 Heartbeat Message Control Frame. No data bytes Geo Master
14 0x282 Heartbeat Message Control Frame. No data bytes Android Master
15 0x283 Heartbeat Message Control Frame. No data bytes Sensor Master
Medium
16 0x410 Destination reached.
(Stops the car when destination is reached)
Control Frame. No data bytes Master All
17 0x420 Battery Status Byte[0-1] Sensor Master/IO
Low
18 0x610 Boot Request Control Frame. No data bytes Master All
19 0x620 Boot Reply
(Date and time will be sent to Master)
Byte[0-4] Motor-IO Master
20 0x621 Boot Reply
(Date and time will be sent to Master)
Byte[0-4] Sensor Master
21 0x622 Boot Reply
(Date and time will be sent to Master)
Byte[0-4] Geo Master
22 0x623 Boot Reply
(Date and time will be sent to Master)
Byte[0-4] Android Master
23 0x630 Boot Status
(Enable the map and run button in Android)
Control Frame. No data bytes Master Motor-IO/Android
24 0x640 System Start Control Frame. No data bytes Android All
25 0x650 Source Co-ordinates Byte[0-3] -> Source Latitude
Byte[4-7] -> Source Longitude
Geo Android

Car Framework and Components

The RC car, Traxxas Stampede, in its raw form consists of a Titan 12T 550 Brushed DC motor, a Servo motor, an XL-5 ESC (Electronic Speed Control) unit, battery and a pre-programmed wireless receiver and controller. The Battery used in the RC car is an 8.4 V, 3000 NiMH from Traxxas. The wireless receiver gets commands from the remote control and drives the motors accordingly, but the DC motor can be controlled only through ESC.


                                       CmpE243 F15 T2 Car.jpg

The ESC (Electronic Speed Control) unit is an electronic module, which receives PWM signals from the controller and varies speed and direction of the DC motor and also acts as dynamic brakes. ESCs are often used in RC models. The ESC has the capability to provide dynamic braking depending on the mode in which it is being operated.

Motor and I/O Controller

Hardware Design

Motor Module

The motor module comprises of a servo motor for the direction control and a DC motor for speed control. The servo motor helps the car in turning left and right where as the DC motor on the other hand helps the car move forward and backward. The DC motor used in the project is a brushed motor. Conventionally, brushless motors are faster and more efficient than brushed motors. But, the reason for selecting a brushed motor over a brushless motor is that we employ a dedicated battery for the motor such that we do not have any issues with power and efficiency. Moreover, we need not operate the car at high speeds.

The initial task in the motor module is to find the operating ranges of the motor so that we get to know the output signal range and frequency from the SJONE board which would be replacing the pre-programmed controller. The simplest way to find the operating ranges of the motor is to tap and analyze PWM signal that is being supplied to the motor over an oscilloscope. The results as shown in the below pictures indicate that the operating duty cycle of both the motors lie between 10% to 20% and the frequencies at which the motors operate is 100Hz.

                                     CmpE243 F15 T2 PWM DutyCycle.jpg


The hardware interface of the Motors and SJONE board includes the following connections.

Sl. No Connection on the car Pin on SJSU One Board Purpose
1 Input to DC Motor P2.1 PWM input to drive DC motor
2 Input to Servo Motor P2.0 PWM input to drive DC motor
3 Speed sensor P2.4 PWM output from speed sensor


The Motor controller receives the commands from the Master controller which guides it to navigate the car based on the information from the Sensors and GPS. While it does so, it also needs to get feedback from the DC motor and control the motor independently in order to ensure that the car is moving with the speed requested by the Master. This requires increasing or decreasing the actual speed level that is being provided to the Motor in case of movement along uphill, downhill, glass and high friction tracks.

The feedback is achieved through a shaft encoder which works based on Hall-effect. The installation of the speed sensor was pretty easy as we went with the one from Traxass, the same manufacturer as our RC car. It involves removing the DC motor casing, placing the sensor over the spur gear and the magnet holder. The sensor would sense the rotation of the axle. It produces a pulse when the magnet comes into the line of the sensor, which is then detected by the Motor controller.


IO Module

The IO module Consists of a 4 line * 20 characters serial LCD. Data from GPS and sensor module is displayed continuously by refreshing it every second. SJ one board communicates with LCD through UART.
LCD

GPS data :-

  • Latitude
  • Longitude
  • Final distance remaining

Sensor data:-

  • Left sensor reading
  • Right sensor reading
  • Front sensor reading
  • Rear sensor reading

Additionally, IO module controls lighting up headlights/taillights based on the direction of the car movement.


Hardware Interface

LCD unit requires 5V power supply for its working. The VCC and Ground pins are connected to common power supply lines that is used to power up all the boards. The Rx pin of LCD is connected to TXD2 (p2.8) pin on SJ one board. Two of the GPIO pins p2.6 and p2.7 controls the headlights LED’S and taillights LED’S respectively.

Sl. No Pin on IO Module Pin on SJSU One Board Purpose
1 Vcc Common power supply 5V for LCD
2 Ground Common Ground Ground for LCD
3 Rx P2.8(TXD2) Receive data from SJone board through UART
4 Headlight LED’s(2) P2.6 Turn on headlights when car is moving in the forward direction
5 Taillight LED’s (2) P2.7 Turn on tail-lights when car is moving in the reverse direction

Software Design

Motor/IO Module

                                       Software Flow Diagram  

The controller on boot up initializes the CAN communication, UART and also the PWM for initialization pulse required for the motor to run.The inter-controller communication is done over CAN bus. It is configured to receive and transmit messages at 100K baud-rate. The type of CAN ID is Standard. Later these are accomplished at run time using the periodic scheduler task.


LCD communicates with SJ one board through UART. The UART port is configured to operate at the default baud rate of 9600 bps. “FO” character is sent to initialize the UART port after a delay of 100 ms, upon powering up the board. The display unit responds after 100 ms. Now the LCD module is configured and can receive further messages to display on it. Data from modules such as GPS and sensor are received continuously through CAN. It is decoded, converted into proper format and displayed on the LCD periodically. The corresponding flow is shown below.

                        Software Flow Diagram

The Motor controller, after sending the initialization pulse to the DC motor, waits for a start command from the Master over CAN and then controls the motors in order to reach the destination with required levels of speed and direction. The control algorithm for the Motor operation is as shown on the right.

Software Implementation

“Can receive” function is called in periodic scheduler 100 Hz task. This function lets the Motor/IO module receive CAN messages from other modules connected to it. CAN set up filter function has been used to accept only essential messages required by this module. Based on the CAN message identifier, corresponding action is performed. These are the CAN messages required by the motor/IO module.

CAN MESSAGE ID:-

  • 0x210 – Sensor data
  • 0x220 – motor control message from master
  • 0x240 , 0x250 – GPS data


Data from sensor and GPS modules are stored in global message buffers. Sensor data is 8 bit whereas GPS data ranges between 16-32 bits. These integer values are converted into character type and then sent to LCD through UART. LCD display function is called in 1Hz periodic scheduler task. Thus Sensor and GPS data get displayed on the LCD every sec.

                Implementation Diagram

The 3D design used as a support for mounting the LCD is shown below:

3D design for LCD mounting


Motor Control

On receiving the CAN message(0x220) from the Master, the data is extracted and and used for specific functions as shown below.

          *Byte0 --> Servo Direction
          *Byte1 --> Servo Level
          *Byte2 --> DC Direction
          *Byte3 --> DC Level

Based on this data, the first two bytes decide the direction(left/right) and the level(angle), respectively in which the car should turn using the Servo motor. Similaly, the next two bytes decide the direction(forward/backward) and the level(speed) in which the car has to move.

To implement all the motor related functions, we have employed a dedicated task. Initially, the pre-scaled PWM values are fed to the motors based on the direction and level from the Master. We have a bit robust algorithm to obtain these PWM values which has offsets and level multipliers. The advantage of this is we can change the code to function for multiple levels with minimum effort.


Motor Feedback

After feeding the motors with the required levels, we have to check if the car is actually moving at that speed. This is ensured through feedback and control based on that. The feedback is obtained through the speed sensor collaborated with the DC motor, which triggers a pulse on every rotation and this is recorded by a rising edge based interrupt. The interrupt callback function increments the number of pulses. A separate logic is used to calculate and then compare the actual and required(from Master) speed levels. The corrective measures are enforced to achieve the desired speed.

The transmit messages, except Heart beat message(sent every one second), are transmitted once every 100ms. The Motor/IO controller, on receiving a boot request from Master controller, transmits a boot reply message in order to let the Master know that it has booted successfully. The heart beat message is transmitted continuously to indicate that the controller is active and this will be acknowledged by the Master.

Master Controller

As the name suggests, it is main controller on the car which interacts with all other controllers over the CAN Bus to achieve real-time functionality. Basic function of the Master Controller is to receive data from Android, Geo and Sensor Modules and develop the algorithm to drive the car autonomously based on the received data through the Motor Controller.

Hardware Design

  • RC car was the basic infrastructure that was required to implement the project.
  • CAN Bus with five SJone controller boards was integrated on General purpose Printed Circuit Board (PCB).
  • Sufficient power-supply ports and external pins were provided to each controllers.
  • Flat Ribbon Cables were used to reduce circuit complexity arising from external connecting wires.

Software Design

Master Algorithm

This section describes about the general algorithm used for master programming. There are a lot of cases in Master Controller which are to be handled in order to run the car properly. This includes heartbeats, boot messages, running of motor, reading of the sensor values properly and then taking proper decision. The other activities that are done in master are listed below with some fair explanations.

  • Master Controller uses FreeRTOS environment to achieve its functionality.
  • It uses Periodic Scheduler Task provided by Preet at its core to communicate with all other controllers.
  • The functions of the Periodic Scheduler Task were used in a customized manner to transmit/receive the messages at specific intervals of 1Hz,10Hz,100Hz and 1000Hz.
  • File logger function was used to log the real-time data onto SD card which was used for debugging purpose.
  • Can Message structure of 11-bit id was implemented to send and receive CAN messages over the CAN Bus.
  • CAN acceptance filter was set-up to receive messages specific to Master Controller from the CAN Bus, since it is the broadcast Bus.

Geo-Based :

  • Check if there is no obstruction. If there is no obstruction proceed to step2, otherwise proceed to step7.
  • Check if distance towards next check-point is greater than 30. If distance towards next check-point is greater than 30, proceed to step3, otherwise go to Step 6.
  • Check if turning angle is greater than 10. If turning angle is greater than 10, proceed to step4, otherwise go straight go to step7.
  • Check if turning angle is greater than or equal to 90. If turning angle is greater than or equal to 90, turn left or right according to the turning bit with level of direction 3 go to step7, otherwise proceed to step5.
  • Check if turning angle is greater than or equal to 45 and less than 90. If turning angle is greater than or equal to 45 and less than 90, turn left or right according to the turning bit with level of direction 2, otherwise turn left or right according to the turning bit with level of direction 1 go to step7.
  • Check if distance towards next check-point is less than 10.If the distance is less than 10, stop the car, otherwise move slowly with level of speed 1.
  • End.

Obstacle avoidance Algorithm :

The most important part of the Master controller is to control the motors and other decision making factor such as when to move and when not to. The MotorIO controller is the most dependent controller on the Master controller. The Master controller is responsible for making decisions on when and where to move the car in case of any obstacle and that is how the sensor controllers come into the bigger picture.

1) For exact precision, we are considering more exact algorithm for Sensor Processing. We have defined three levels of obstacle regions. The exact explanation of this terminology can be understood from the gif image shown below.



2) There are three regions in which the major sensor processing for obstacle is done. But we have also taken the danger zone into the consideration. This distance will be the distance will be designated as the safest distance for the car in which it can move ahead though at low speeds. Within that distance, the car won’t be able to move ahead and would only take reverse depending on some major data from rear sensor. Following is the classification of the various

Front:
FDanger : This distance would be the distance within 40 cms. Within this distance, the car won’t move ahead and would only take reverse turn only if there is no blockage from the rear side.
F1 : F1 is the distance between 40 cms and 80 cms. Within this distance, the car speed would be very slow. Since this distance is very nearby, we have made sure the car is very slow with the motor feedback and then it will take some necessary decisions. Whenever the turn angles would be there after avoiding the obstacles, they would be a bit more in this range since there would be a necessity to take sharp turns for the car.
F2 : The range of 80 to 130 cms defines the level F2. The car would run at some more speed in this distance.
F3 : The range of 130 cms to 190 cms defines the level F3. The car won’t make any turning decisions in this range but would only reduce the speed of car. We have made sure that within this range of obstacle detection the speed of the car won’t be so much that it would cause problem in obstacle detection in the ranges ahead.

Left:
LDanger and RtDanger : LDanger and RtDanger is the range of the left sensor obstacle distance values within 40 cms. L1 and Rt1 : For L1 and Rt1, the distance between 40 cms and 70 cms is considered. This distance is somewhat more than the danger distance and would have only speed level 1 in this condition.
L2 and Rt2 : L2 and Rt2 is considered as the distance between 70 cms and 120 cms. This distance has front motor speed as speed level 2 and the direction angles are also somewhat more.
L3 and Rt3 : The range of 120 cms to 150 cms is considered as the level L3 and Rt3. This range is not kept for any decision of turning. Only the speed of the car is reduced under this level.

Rear :
Reverse : We have considered using only a single level of obstacles for reverse using rear sensor. The reason for this is that there won’t be a significant movement in the reverse direction. So, there is not much use of handling the reverse conditions at a higher priority. Just a single level and every case can be handled properly. The range of the obstacles finding for the reverse sensor is 60 cms.

We have considered all the cases for the levels but during the actual running of the car, there were some cases which were only used 0.5% of the times. Just to improve the response of the algorithm, we have ignored those cases and concentrated on all the other cases. The results were fascinating since the reverse algorithm was responding very sharply. These are all theoretical explanation about the levels. The, actual algorithm is shown using a flow diagram below. This would clearly showcase how the car would run and in what conditions.

Software Implementation

  • Master Controller starts with initialization of CAN Bus and setting up reception filter from the main() function.
  • The Periodic Scheduler Task then takes over to implement the actual functionality of the Master Controller.
  • CAN_is_busoff() was used at an interval of 10Hz through periodic scheduler task to check if CAN bus was working continuously.
  • The basic flow of control is as follows:

Sensor Controller


Sensor Controller workflow


Sensor controller consists of sonar and ultrasonic sensors that are inter-connected to the SJOne board and CAN bus. The sensors detect if there is any obstacle around the car and report the distance of obstacle. Hardware design consists of four sensors connected to ports of LPC1758. The sensor in the front direction is MB1010 sonar sensor while the ones at back,right and left direction are HCSR04 ultrasonic sensors. The sensors are connected to +5V to achieve the highest beam pattern that is available.

Hardware Design



Sensor Hardware Interface



MB1010 LV MaxSonar EZ1 Sensor

MB1010 Sensor













The LV MaxSonar EZ detects objects from 0 inches to 254 inches and provides sonar range from 6 to 254 inches with 1 inch resolution. Objects from 0 to 6 inches are reported as 6 inches. Sensor operates at 42KHz. The sensor reports output formats in from of pulse width output, analog voltage output, and RS232 serial output. We have selected pulse width output.The sensor will continually measure range and output if RX data is left unconnected or held high. If held low the sensor will stop ranging. We have commanded a range reading by triggering high for 20uS. Below are the timing diagrams for the sensor

Timing Diagram for LV MaxSonar EZ Sensor


















HCSR-04 sensor

HCSR-04 Sensor

HCSR-04 sensor is a ultrasonic ranging module which detects obstacle from 0 to 400 cm. It is a four pin module – Vcc, trig, echo and Gnd. It includes transmitter, receiver and control circuit. The sensor operates at 40 KHz.It Requires 5V 15mA power supply. When a short 10uS pulse is provided to the trigger input, the sensor will transmit out 8 cycle of ultrasonic burst at 40kHz and makes the echo pin high.The Echo pin is lowered to logic low when the ultrasound burst is reflected off a distant object.To obtain the distance, measure the width (Ton) of Echo pin. Time = Width of Echo pulse, in uS (micro second) Distance in centimeters = Time / 58 Distance in inches = Time / 148 Or you can utilize the speed of sound, which is 340m/s

Timing Diagram for HC-SR04 Ultrasonic Sensor

The 3D design used as a support for mounting the sensors is shown below:

3D Design for Sensor mounting



Software Design


Software design for Sensor controller includes sequential triggering of sensors, calculating distance of obstacle from the echo recieved and transmitting the data on CAN bus

Algorithm

  • Initialize trigger pins as output to provide trigger pulse to sensors
  • Initialize interrupt pins to receive echo or PW from sensors
  • Trigger Front and back sensor
  • Wait for echo or PWM pulse
  • Capture start time frame on rising edge of interrupt and end time frame at falling edge of interrupt of the sensor
  • Trigger Left and Right sensor
  • Wait for echo or PWM pulse
  • Capture start time frame on rising edge of interrupt and end time frame at falling edge of interrupt of the sensor
  • Calculate distance on basis of the time captures in previous steps.
  • Broadcast distance on CAN bus

Geographical Controller

Working of Geo Module

Geographical Controller consists of GPS and Compass module. GPS module is used to track current position (Latitude and Longitude) of car and compass module used to know heading of car with respect to north. With help of data provided from both modules, turn angle and distance to destination is calculated. Algorithm for these calculations is explained in software section.

Hardware Design

Schematic

Schematic

SparkFun Venus GPS with SMA Connector
SparkFun Venus GPS uses Skytraq VENUS634FLPx IC. The Venus638FLPx outputs standard NMEA-0183 or SkyTraq Binary sentences at a default rate of 9600 bps which is adjustable to 115200 bps, with update rates up to 20Hz. We configured this module with update rate of 10Hz and 38400 bps UART rate. Module outputs GGA, GSA, GSV, GLL, RMC, VTG, ZDA NMEA standard messages which can be configures to as per our requirements. We configured it to give only GGA messages. GGA message format is shown below.
For configuring GPS modules to UART rate 38400 bps, 10Hz update rate and only GGA message at output, below binary commands are used.

GGA Message Format
Binary Configuration Commands

SparkFun Venus GPS with SMA Connector and Antenna

























HMC5883L
HMC5883L IC communicates to SJOne Board through I2C bus.
SJONE board -Master device
HMC5883L - Slave device
I2C rate is controlled by the master and can be upto maximum 400 KHz. We have configured the rate as 100 KHz.

Master Transmitter Mode:
In this mode, the master writes to the slave registers.
Compass IC has a set of 8 bit registers to be initially configured for parameters such as device output rate, number of samples, device gain and operating mode. By identifying the device write address and register address, the values can be written by the SJONE board to compass registers.

Master Receive Mode:
In this mode, the master reads from the slave registers.
X,Y,Z registers of the compass can be then read by SJOne board one by one knowing the device read address and register address.Register pointer will be incremented by 1 automatically after current register has been successfully read.

HMC5883L













Software Design

Algorithm

  • Get current readings from GPS and compass module.
  • Parse string received from GPS module to get latitude, longitude and number satellite lock and calculate heading value.
  • Proceed for further calculation if number of satellite lock is valid.
  • Calculate distance and bearing of destination with the help of haversine formula using current and destination coordinates.
  • Calculate turn angle with direction using bearing and heading values.
  • Send distance, turn angle and direction to master controller using CAN bus.
  Haversine formula:
Distance = R ⋅ c c = 2 ⋅ atan2(√a, √(1−a)) a = sin²(Δφ/2) + cos φ1 ⋅ cos φ2 ⋅ sin²(Δλ/2)
Bearing (θ)(radians) = atan2(sin Δλ ⋅ cos φ2 , cos φ1 ⋅ sin φ2 − sin φ1 ⋅ cos φ2 ⋅ cos Δλ)
where φ is latitude, λ is longitude, R is earth’s radius (mean radius = 6,371km). Note: Angles need to be in radians to pass to trig functions,unit of distance depends on unit of radius used.

Software Implementation

  • Geographical Controller uses Periodic Scheduler Task provided by Preet to calculate distance, bearing values, get readings from compass and CAN communication.
  • GPS Task is created to read string from GPS module and parse it to get latitude and longitude data.
  • CAN and compass initialization is performed in main() function.
  • File logger function is used to log the real-time data onto SD card which is used for debugging purpose.
  • Can Message structure of 11-bit id is implemented to send and receive CAN messages over the CAN Bus.
  • CAN acceptance filter is set-up to receive messages specific to Geographical Controller from the CAN Bus.
  • Queues are implemented to store coordinates and use them in different functions whenever required. Producer and consumers of queues are timely managed so that functions will get latest readings.
  • CAN bus is checked if it is in bus off status at every 10Hz interval. CAN bus is reset if it is in bus off mode.

Android Communication Bridge Controller

Hardware Design

The Communication bridge consists of establishing connection between car and the android phone which is established with the help of bluetooth module HC-05 connected to UART peripheral of SJOne Board. The UART pins on board are connected to bluetooth module in the manner shown in diagram. Once the connection is established between the car and the android phone and signals like 'Start','Stop' and 'Kill' are sent from android phone then they are received by the bluetooth and sent to SJOne board to be further broadcasted over CAN bus.

Communication Bridge
HC-05 Bluetooth Module






Sl. No Pin on SJOne Board Pin on HC-05 Bluetooth module Purpose
1 TXD3 RXD Transmission through UART3 to HC-05
2 RXD3 TXD Reception through UART3 from HC-05
3 3V3 3.3 3.3V voltage supply
4 GND GND Ground

The Bluetooth module HC-05 is a MASTER/SLAVE module.The Role of the module (Master or Slave) can be configured only by AT COMMANDS.By default the mode is set to SLAVE.It has pins named KEY and 5V which we are not using because KEY pin is used to enter the Command mode.Bluetooth module when connected to SJOne board needs to be paired with any one of the external devices like android phone in our case, there is LED that blinks at different pace to indicate whether it is paired or not. Once the bluetooth module is paired indicated by slow blinking of the LED, the android phone is all ready to transmit signals to SJOne board.

Software Design

The purpose for Communication Bridge is mainly to facilitate communication between Android application and other controllers via Bluetooth module and CAN. The software design mainly follows the flow of data as shown in figure. The UART peripheral on SJOne is configured by using getInstance( ) on Free Rtos to either receive or transmit data through it.When the communication bridge controller receives CAN msg ids corresponding to Master,Sensor and Geo controllers over the CAN bus, it tends to send data corresponding to each msg id to Android phone through bluetooth module.Once the signals are processed by the android app, in return if it wants to send data through bluetooth over CAN bus then it can.

Reception of Bluetooth messages and transmission over CAN























Android Application

Software Design

Testing

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Accuracy of GPS Module

GPS Module Coordinates on Google Maps

Accuracy of GPS module was tested by recording/logging coordinates received by module using LOG_INFO() function and plotting them on Google maps GPS Module Coordinates on Google Maps. GPS module was very much accurate we did not needed to calibrate it. It is observed that more number of satellite locks with module, greater the accuracy of coordinate readings.

Calibration of Compass

As any instrument has instrument error, so has the compass IC. The compass needs to be calibrated for accuracy. We undertook two levels of calibration.
1. Level 1 calibration was done without mounting the compass on car. The compass was rotated in its axis for 360 degrees and the error was identified for every 15 degrees (totally 24 zones) with the setup shown by the image in the left.
2. Level 2 calibration was done after mounting the compass on car.The car setup by itself had some tilt and we compensated it by means of adjusting the hardware mounting. Next, the motor’s EMI caused some magnetic deviation and the motor's influence was taken into account too. The car was rotated in its axis ( its axis being parallel to the compass axis) for 360 degrees with the deviation measured for every 15 degrees(totally 24 zones) with the setup depicted by the image in the right.

Set up for Compass Calibration before mounting on Car

Set up for Compass Calibration on Car

The deviation was not uniform for every zone. Using linear regression analysis technique, the relationship between the predictor variable - degrees and the response variable - radians was found in an ideal environment and the same was repeated several times for accuracy. The average of several such readings was taken as the final calibration value.

Before Calibration

After Calibration












































Motor and Feedback

The motor operation is initially tested for its accuracy with different direction and levels such as forward, reverse, left, right. After ensuring everything is as expected, we went for refining it. Later, with the speed sensor installed, the functioning of it and the control based on it has to be checked properly. For this, we have tested the car by running it over ramp-up, ramp-down, grassy and rough paths. Then we have refined it. Finally, we made sure that the car gets back to the required speed when it deviates from the same.

Sensor Triggering

Initially while testing sensors the triggering was in continuous mode without any waiting for sensor processing time. This resulted in multiple errors in distance measured and eventually damaged the sensor. Wait for 50ms for MB 1010 sensor and 30 ms for HC SR 04 sensor before triggering next time. Below are the testing results for trigggering sensors at different time intervals

HC SR-04 Calibration
MB1010 Calibration


















Referring to the above results we can conclude that the sensor data is more accurate for MB1010 if the time interval for triggering is 50ms. Similarly for HC SR04 the readings are accurate if time interval between the trigger is 30 ms. Now if one waits for sequential triggering for all 4 sensors the wait time will be long, resulting in sensor data at low frequency. Hence to make sensors operate at 10Hz, the sensors are triggered in pairs( Front- Back and Right- Left). This has resulted in operating frequency of 10Hz concurrently avoiding interference between adjacent sensors.

Technical Challenges

Configuring GPS Module

We faced difficulty in configuring GPS module to sending only $GGA messages, 10Hz Position update rate and updating baud rate to 38400. Initially we were trying to configure GPS module via writing program for SJ One board and we were unable to do it. Later on we completed configuring by connecting GPS module directly to serial port and using GPS Viewer software. Through it we can directly configure GPS module without worrying about binary messages and checksum calculation.

Compass and Calibration

1. Initially the compass was mounted and tested on breadboard with its upper face downwards as the connecting strips are on the upper side. This made the compass produce incorrect values.
2. While reading the registers in compass HMC5883L, only x and y register values are needed. Hence we tried to read only those registers from the device. But it so happened that z register is in between the x and y registers and the read pointer did not advance after the x register was read and remained in the z register. This led to compass producing constant values.
3. While calibrating, the compass should be rotated on a horizontal plane with its axis of rotation fixed. Shifting the axis may result in incorrect values.
4. Having a robust hardware that does not cause any or very less tilt, will reduce the efforts of calibration as HMC5883L IC is not tilt compensated.
5. Calibration should be done in an environment which does not have iron , magnetic particles etc as those may cause magnetic deviation. As the motor module influences the compass with the generated EMI, mount the compass far away from the motor and calibrate with the motor ON to take account of the EMI generated.

Motor Feedback

The major difficulty with motor speed feedback was getting enough number of pulses from the speed sensor in order to calculate the current speed. When we run at very low speeds, we get pulses as low as 2 0r 3 at even 10Hz. If the same value is multiplied by required factor(say 600 in 10Hz) to get the rpm, then we have a couple of issues.

i) Firstly, we cannot get intermediate speed values as we get only in multiples of the the factor which will be very high.

ii) Secondly, we may have some issues, at very low speeds, like we don't get a pulse every 100ms or 10ms, which means the motor is at rest but which actually is not.

Solution: Never try to implement in terms of "rpm". Instead go for "rps" or "m/s". This will eliminate the first issue. And to solve the second problem, we may think of aggregating the pulse count for a greater time interval. But this will lead to a delayed feedback which in turn leads to an undesired behavior. Hence we have a trade-off between the two.

Motor Control

1) The first hurdle one would face with the Motor control through an ESC is starting the motor. This requires an initialization pulse, which would have been sent by the transmitter earlier. We have to realize the required pattern or PWM value for the achieving this.

2) The second difficulty with the motor comes into picture when with backward movement of the car. Due to the presence of the ESC and the resudual momentum in forward direction, we cannot alter the direction of the motor suddenly. We have to manually discover the pattern required for this forward to reverse transition which takes a bit of time unless one is aware of it.

Android Application

While designing the app for the project, it was observed that bluetooth connectivity was being lost when switching in between two or more activities designed on the app that help us navigate between different screens on the phone leading to which the design of app was proposed to be converted into fragments but again when conversion of activities to fragments was started, it was observed that Map activity which is a fragment activity can not be converted into fragments because for both activities and fragment activity the syntax of functions used were different from that of fragments so the idea of converting into fragments was changed and the app was redesigned to be implemented only by using activities.

Conclusion

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Project Video

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Project Source Code

References

Acknowledgement

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References Used

Appendix

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