F15: TopGun

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Revision as of 21:25, 24 November 2015 by 243 user3 (talk | contribs) (Implementation)

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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.

Project Title

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

Motor & I/0 Controller:

  • Anuj Korat
  • Dhruv Kakadiya

Communication Bridge & Android Controller:

  • Anush Shankar
  • Aditya Devaguptapu

Geographical Controller:

  • Chitrang Talaviya
  • Navjot Singh

Master Controller:

  • Hemanth Konanur Nagendra
  • Akshay Vijaykumar

Sensor Controller:

  • Divya Dodda
  • Dhruv Kakadiya

Treasurer:

  • Anuj Korat

Schedule

Show a simple table or figures that show your scheduled as planned before you started working on the project. Then in another table column, write down the actual schedule so that readers can see the planned vs. actual goals. The point of the schedule is for readers to assess how to pace themselves if they are doing a similar project.

Team Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/15/2015 09/27/2015
  • Understanding the requirements and having initial team discussions on approach to be followed to carry out project
  • Forming sub-teams and assigning individual modules to each sub-team
Completed 09/27/2015
2 09/27/2015 10/30/2015 Following up on RC car and other component procurement through team discussions Completed 10/30/2015
3 10/30/2015 10/06/2015 Hardware design of the car including discussions on component placement, soldering and wiring. Completed 10/06/2015
4 10/06/2015 10/17/2015 CAN message ID's, priorities, data size and format proposals for all the possible CAN messages on the bus Completed 10/20/2015
5 10/20/2015 11/05/2015 Discussions and proposals on basic obstacle avoidance algorithm with sensor integration, hands on and testing Completed
6 11/05/2015 11/25/2015 Integrating other modules and components to the RC car, development of autonomous driving algorithm and finalize on hardware layout of the car Incomplete
7 11/25/2015 12/15/2015 Testing the RC car in real world environments Incomplete


Motor & I/O Controller Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/20/2015 09/27/2015 Researching and ordering the LCD module to be used in the project Completed 9/27/2015
2 09/27/2015 10/05/2015
  • Studying data sheets(LCD and motor) to get understanding of basic concepts and working of components
  • Understanding and proposing driving mechanisms for LCD and motors(DC and servo)
Completed 10/05/2015
3 10/05/2015 10/12/2015
  • Interfacing motors to SJOne board and developing drivers for the same
  • Interfacing LCD module to SJOne board and developing drivers to display basic texts and symbols
Completed 10/12/2015
4 10/12/2015 10/30/2015
  • Implementation of basic power on RC car run with motors(DC and servo) interfaced to SJOne board
  • Collaborating with other teams to develop basic obstacle avoidance and testing it
Completed
5 10/30/2015 11/12/2015 Proposals related to speed controls and sensors for the same and integration of LCD module(with data display) Incomplete
6 11/12/2015 11/25/2015 CAN bus communication from motor and I/O controller to other boards Completed
7 11/25/2015 12/15/2015 Debugging issues during trial runs and testing out fault cases Incomplete


Communication bridge & Android Controller Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/20/2015 09/30/2015 Getting familiarized with Android SDK, Java, Bluetooth API and Google Maps API Completed 09/30/2015
2 09/31/2015 10/10/2015
  • Placement of buttons on the app activity page to switch on and off bluetooth on the phone
  • Marker placement on Google maps for source and destination
Completed 10/10/2015
3 10/10/2015 10/22/2015
  • Creating input and output streams for bluetooth for sending and receiving data
  • Performing straight line routing between source and destination on google maps
Completed 10/22/2015
4 10/22/2015 10/30/2015 Interfacing bluetooth module to SJOne board through UART and receive data on SJOne board sent by the bluetooth application Incomplete
5 10/30/2015 11/10/2015 Relay commands and CAN messages from SJOne to android application and test correctness of data Incomplete
6 11/10/2015 11/22/2015 Performing correct routing between source and destination, have a complete working application, basic testing of application and bridge interface Incomplete
7 11/22/2015 12/15/2015 Extensive Testing of application during final phases, modifying code in cooperation with other teams and optimization of android application Incomplete


Geographical Controller Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/20/2015 09/27/2015 Researching and ordering the parts Completed 9/27/2015
2 09/27/2015 10/05/2015 Studying module data sheets and writing code sketches to be used when modules are procured(GPS and compass) Completed 10/05/2015
3 10/05/2015 10/15/2015 Interfacing GPS module and compass to SJOne board and get consistent filtered readings Incomplete
4 10/15/2015 10/30/2015 Proposals for heading and distance calculation, unit testing and integrating modules Incomplete
5 10/30/2015 11/10/2015 Calibration of compass and GPS readings, CAN bus communication from geo controller to other boards Incomplete
6 11/10/2015 11/25/2015 Android application connection with data reception and transmit Incomplete
7 11/25/2015 12/15/2015 Final phase testing and optimization, collaborating with android team to get better reliable outcomes Incomplete


Sensor Controller Schedule

SI No. Start Date End Date Task Status Actual Completion Date
1 09/20/2015 09/27/2015 Researching and ordering the sensors to be used in the project Completed 9/27/2015
2 09/27/2015 10/03/2015
  • Studying sensor data sheets and preparing code sketch to be used after components are procured
  • Interface ADC ultrasonic sensor to SJOne board(available spare sensors), reading sensor values and filtering the readings
Completed 10/03/2015
3 10/03/2015 10/10/2015 Interfacing ADC ultrasonic sensor to SJOne board, reading sensor values and filter the readings Completed 10/10/2015
4 10/10/2015 10/20/2015 Understanding inertial measurement unit sensor, interfacing it to SJOne board to get filtered readings Completed 10/20/2015
5 10/20/2015 11/05/2015 Integrating multiple sensors to the SJOne board, testing the sensors and debugging issues Incomplete
6 11/05/2015 11/25/2015 Preparing sensor values to be sent over CAN bus and testing out the correctness of sensor can messages Incomplete
7 11/25/2015 12/15/2015 Testing of code during final phases, modifying code in cooperation with other teams and optimization of code Incomplete

Parts List & Cost

Item# Part Desciption Vendor Web link Qty Cost
1 RC Car From Preet http://www.rchobbyexplosion.com/DHK_Hunter_4WD_Short_Course_Truck_with_2_4Ghz_p/dhk8135.htm 1 Free
2 RC Car Battery Amazon http://www.amazon.com/dp/B000HKKZN0/ref=rr_xsim_1_1?ie=UTF8&qid=1443933750&sr=0 1 $24.72
3 Core CPU Supply Amazon http://www.amazon.com/gp/product/B002BHXYSK?psc=1&redirect=true&ref_=oh_aui_detailpage_o00_s00 1 $12.70
4 CAN Transceiver MCP2551 Microchip http://www.microchip.com/wwwproducts/Devices.aspx?dDocName=en010405 15 $20.00
5 Printed Circuit Boards Amazon http://www.amazon.com/Prototyping-Tinned-Universal-Printed-150x200mm/dp/B00N3WTROC/

http://www.amazon.com/Double-Protoboard-Prototype-Printed-Circuit/dp/B00NQ3A50S/

4 $20.13
6 M-F,F-F,M-M Jumper Wires Amazon http://www.amazon.com/Kalevel%C2%AE-120pcs-Multicolored-Female-Breadboard/dp/B00M5WLZDW/ 120 $8.75
7 Servo Motors Amazon http://www.amazon.com/RioRand-TowerPro-micro-Helicopter-Arduino/dp/B00M8RGGFG/ 5 $12.89
8 Ultrasonic Sensors Amazon http://www.amazon.com/gp/product/B00NG8TJ6E?psc=1&redirect=true&ref_=oh_aui_detailpage_o00_s02 5 $10.45
9 9 DOF Razor IMU module SparkFun https://www.sparkfun.com/products/10736 1 $74.95
10 FTDI Basic Breakout SparkFun https://www.sparkfun.com/products/9873 1 $14.95
11 LCD Display uLCD-32PTU 4D systems http://www.4dsystems.com.au/product/uLCD_32PTU/ 1 $111.00
12 Bluetooth Module Amazon.com http://www.amazon.com/KEDSUM%C2%AE-Arduino-Wireless-Bluetooth-Transceiver/dp/B0093XAV4U/ 1 $9.99
13 Wire Cutter Amazon http://www.amazon.com/Hakko-CHP-170-Stand-off-Construction-21-Degree/dp/B00FZPDG1K 1 $2.99
14 GPS Sensor Adafruit http://www.adafruit.com/products/746 1 $39.95
15 7-Segment Display From Preet https://www.sparkfun.com/products/retired/9765 1 Free
Total Cost $450

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

CAN Message ID Table

Message ID Task associated with ID Data bit-fields
0x00 Kill Switch No Data
0x01 Reset
  reset_motorio:8;   // Acknowledge motorio controller
  reset_sensor:8;    // Acknowledge sensor controller
  reset_geo:8;       // Acknowledge geo controller
  reset_bluetooth:8; // Acknowledge bluetooth module  
0x02 Master Sync Ack
 ack_motorio:8;		// Acknowledge motorio controller
 ack_sensor:8;		// Acknowledge sensor controller
 ack_geo:8;			// Acknowledge geo controller
 ack_bluetooth:8;		// Acknowledge bluetooth module
0x03 MotorIO Controller Sync No Data
0x04 Sensor Controller Sync No Data
0x05 Bluetooth Controller Sync No Data
0x06 Geo Controller Sync No Data
0x07 MotorIO controller Heart-beat No Data
0x08 Sensor controller Heart-beat No Data
0x09 Bluetooth controller Heart-beat No Data
0x0A Geo controller Heart-beat No Data
0x0B Run mode mode:8;
0x0C Distance Sensor Data
 front_left:8;		// Front left sensor reading
 front_right:8;		// Front right sensor reading
 front_center:8;	        // Front centre sensor reading
 left:8;			// Left sensor reading
 right:8;			// Right sensor reading
 back:8;			// Back sensor reading
0x0D MotorIO Direction Data
 speed:8;			// Indicate speed for DC motor
 turn:8;			// Indicate turn angle for servo motor
0x0E Check-point Request Message No Data
0x0F Check-point Start Message
 num_of_points;	// Number of check-points to be loaded
0x10 Check-point Data
 float latitude;
 float longitude;
0x11 Geo-Controller New Destination Data
 float latitude;
 float longitude;
0x12 Geo-Controller Speed and Angle message
 speed:8;		// Speed as measured by the GPS sensor
 heading:16;		// Heading from the Geo controller
 bearing:16;		// Bearing calculated by the Geo controller
0x13 Geo-Controller Location Data
 float latitude;
 float longitude;
0x14 Light and Battery Sensor Data
 light_sensor:8;	// Light sensor reading
 batt_sensor:8;	// Battery level sensor reading

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

_can_dbc.zip

Testing & Technical Challenges

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.

Include sub-sections that list out a problem and solution, such as:

My Issue #1

Discuss the issue and resolution.

Conclusion

Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?

Project Video

Upload a video of your project and post the link here.

Project Source Code

References

Acknowledgement

Any acknowledgement that you may wish to provide can be included here.

References Used

List any references used in project.

Appendix

You can list the references you used.