Difference between revisions of "F16: AutoNav"

Revision as of 04:29, 17 December 2016

Project Title

• Autonomous RC Car

Abstract

The self-driving RC car navigates autonomously from a source point to destination avoiding obstacles. It consists of five micro-controllers namely Motor & I/O, Sensor, Geo, Communication Bridge & Android and Master performing specific tasks.

• Motor & I/O Controller - This controller takes care of driving and steering with the help of motors and displaying the status of car on the LCD.
• Sensor Controller - Obstacle detection and avoidance will be taken care by this controller.
• Geo Controller - Orientation(heading and bearing)and navigation of the car on a specified path will be determined by this controller.
• Communication Bridge & Android Controller - Co-ordinates for navigation are provided by this controller using an android application communicating with Bluetooth.
• Master Controller - This collects the data from rest of the controllers and guides the car.

These five controllers are connected to five SJ One boards. Communication between all the five controllers is established using CAN bus.

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:

• Vishwanath Balakuntla Ramesh

Motor & I/O Controller:

• Sameer Saran
• Jaswanth Bhimanapalli

Bluetooth (Communication Bridge) & Android Controller:

• Sucharitha
• Karthikeya Rao G V

Geographical Controller:

• Arpita Ramanath
• Veena Manasa Kanakamalla

Master Controller:

• Ajai Krishna Velayutham
  
• Goutam Madhukeshwar Hegde

Schedule

Consolidated Team Schedule

Parts List & Cost

DBC File Implementation

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.

DBC File:

Below the Project DBC File

VERSION ""

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

BO_ 100 KILL_SWITCH: 1 DRIVER
 SG_ killSwitch : 0|1@1+ (1,0) [0|0] "Stop=1" MOTOR

BO_ 110 STOP_CMD: 1 BLUETOOTH
 SG_ BLUETOOTH_STOP_CMD_signal : 0|1@1+ (1,0) [0|0] "Stop=1" DRIVER

BO_ 120 MOTOR_SYNC: 1 MOTOR
 SG_ Motor_Sync : 0|1@1+ (1,0) [0|0] "MotorSync=1" DRIVER

BO_ 130 GEO_SYNC: 1 GEO
 SG_ Geo_sync_cmd : 0|1@1+ (1,0) [0|0] "GeoSync=1" DRIVER
  
BO_ 140 BLUETOOTH_SYNC_CMD: 1 BLUETOOTH
 SG_ BLUETOOTH_SYNC_CMD_signal : 0|1@1+ (1,0) [0|0] "BluetoothSync=1" DRIVER
  
BO_ 150 SENSOR_SYNC: 1 SENSOR
 SG_ Sensor_Sync : 0|1@1+ (1,0) [0|0] "SensorSync=1" DRIVER,MOTOR,BLUETOOTH
 
BO_ 160 ERROR_COMM_DRIVER: 1 DRIVER
 SG_ Sync_Miss_Info : 0|8@1+ (1,0) [0|0] "ErrorMsgType" MOTOR
 
BO_ 170 DRIVER_SYNC_ACK: 1 DRIVER
 SG_ Sync_Miss_Info : 0|1@1+ (1,0) [0|0] "DriverSync=1" MOTOR,BLUETOOTH,SENSOR,GEO
 
BO_ 180 MOTOR_CONTROL: 2 DRIVER
 SG_ steer : 0|8@1+ (1,0) [0|0] "DirectionType" MOTOR    
 SG_ speed : 8|8@1+ (1,0) [0|0] "SpeedType" MOTOR  
  
BO_ 181 MOTOR_RPS: 2 MOTOR
 SG_ Rps_Sensor : 0|8@1+ (1,0) [0|0] "RotationsPerSecondENum" DRIVER,BLUETOOTH
 SG_ Rps_Value : 8|8@1+ (1,0) [0|0] "RotationsPerSecondValue" BLUETOOTH,DRIVER

BO_ 190 SENSOR_SONAR: 5 SENSOR
 SG_ Sensor_Sonar_Front : 0|8@1+ (1,0) [0|0] "FrontDistance" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Sonar_FrontRight : 8|8@1+ (1,0) [0|0] "FRightDistance" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Sonar_FrontLeft : 16|8@1+ (1,0) [0|0] "FLeftDistance" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Sonar_Back : 24|8@1+ (1,0) [0|0] "BackDistance" DRIVER,MOTOR,BLUETOOTH
 
BO_ 200 GEO_SEND_LOCATION: 8 GEO
 SG_ Geo_latitude : 0|27@1+ (0.000001,0) [0|0] "latitude" DRIVER,BLUETOOTH,MOTOR
 SG_ Geo_longitude : 27|27@1+ (0.000001,0) [0|0] "longitude" DRIVER,BLUETOOTH,MOTOR

BO_ 210 GEO_SEND_HD_BR: 8 GEO
 SG_ Geo_heading : 0|29@1+ (0.000001,0) [0|360] "" DRIVER,MOTOR
 SG_ Geo_bearing : 29|29@1+ (0.000001,0) [0|360] "" DRIVER,MOTOR

BO_ 220 NAVIGATION_WAYPOINT: 2 BLUETOOTH
 SG_ Bluetooth_CurrWaypoint : 0|5@1+ (1,0) [0|0] "CurrentWaypointNumber" DRIVER,GEO
 SG_ Bluetooth_NumWaypoint : 5|5@1+ (1,0) [0|0] "NumberOfWaypoints" DRIVER,GEO

BO_ 250 LATITUDE_LONGITUDE: 8 BLUETOOTH
 SG_ Bluetooth_latitude : 0|32@1+ (0.000001,-90.000000) [-90|90] "latitude" DRIVER,GEO
 SG_ Bluetooth_longitude : 32|32@1+ (0.000001,-180.000000) [-180|180] "longitude" DRIVER,GEO

BO_ 230 START_CMD: 1 BLUETOOTH
 SG_ BLUETOOTH_START_CMD_signal : 0|8@1+ (1,0) [0|0] "" DRIVER
 
BO_ 240 SENSOR_BATTERY: 8 SENSOR 
 SG_ Sensor_Battery_Voltage : 0|8@1+ (0.1,0) [0|0] "Volts" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Battery_SOC : 8|10@1+ (0.1,0) [0|0] "Percent" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Light : 18|10@1+ (0.1,0) [0|0] "LightPercentValue" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Tilt_X : 28|12@1+ (0.1,0) [0|0] "TiltValueX" DRIVER,MOTOR,BLUETOOTH
 SG_ Sensor_Tilt_Y : 40|12@1+ (0.1,0) [0|0] "TiltValueY" DRIVER,MOTOR,BLUETOOTH
 
BO_ 500 DRIVER_TEST: 1 DRIVER
 SG_ Driver_Test_Msg : 0|8@1+ (1,0) [0|0] "" MOTOR,GEO,SENSOR,BLUETOOTH

BO_ 600 MOTOR_TEST: 1 MOTOR
 SG_ Motor_Test_Msg : 0|8@1+ (1,0) [0|0] "" DRIVER,GEO,SENSOR,BLUETOOTH
 
BO_ 700 SENSOR_TEST: 1 SENSOR
 SG_ Sensor_Test_Msg : 0|8@1+ (1,0) [0|0] "" DRIVER,MOTOR,GEO,BLUETOOTH
 
BO_ 800 GEO_TEST: 1 GEO
 SG_ Geo_Test_Msg : 0|8@1+ (1,0) [0|0] "" DRIVER,MOTOR,SENSOR,BLUETOOTH
 
BO_ 900 BLUETOOTH_TEST: 1 BLUETOOTH
 SG_ Bluetooth_Test_Msg : 0|8@1+ (1,0) [0|0] "" DRIVER,MOTOR,GEO,SENSOR
 
CM_ BU_ DRIVER "The DRIVER controller driving the car";
CM_ BU_ MOTOR "The motor controller of the car";
CM_ BU_ SENSOR "The sensor controller of the car";
CM_ BU_ GEO "The geo controller of the car";
CM_ BU_ BLUETOOTH "The bridge controller of the car";
CM_ BO_ 100 "Sync message used to synchronize the controllers";

BA_DEF_ "BusType" STRING ;
BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0;
BA_DEF_ SG_ "FieldType" STRING ;

BA_DEF_DEF_ "BusType" "CAN";
BA_DEF_DEF_ "FieldType" "";
BA_DEF_DEF_ "GenMsgCycleTime" 0;

BA_ "GenMsgCycleTime" BO_ 500 10;
BA_ "FieldType" SG_ 180 steer "steer";
BA_ "FieldType" SG_ 180 speed "speed";
BA_ "FieldType" SG_ 181 Rps_Sensor "Rps_Sensor";
BA_ "FieldType" SG_ 190 Sensor_Sonar_Front "Sensor_Sonar_Front";
BA_ "FieldType" SG_ 190 Sensor_Sonar_FrontRight "Sensor_Sonar_FrontRight";
BA_ "FieldType" SG_ 190 Sensor_Sonar_FrontLeft "Sensor_Sonar_FrontLeft";
BA_ "FieldType" SG_ 190 Sensor_Sonar_Back "Sensor_Sonar_Back";

VAL_ 190 Sensor_Sonar_Front 3 "far_f" 2 "mid_f" 1 "near_f" 0 "danger_f" ;
VAL_ 190 Sensor_Sonar_FrontRight 2 "far_fr" 1 "mid_fr" 0 "near_fr" ;
VAL_ 190 Sensor_Sonar_FrontLeft 2 "far_fl" 1 "mid_fl" 0 "near_fl" ;
VAL_ 190 Sensor_Sonar_Back 2 "far_b" 1 "mid_b" 0 "near_b" ;
VAL_ 180 steer 4 "right" 3 "sright" 2 "sleft" 1 "left" 0 "straight" ;
VAL_ 180 speed 4 "brake" 3 "reverse" 2 "normal" 1 "slow" 0 "stop" ;
VAL_ 181 Rps_Sensor 2 "high" 1 "equal" 0 "low" ;

Sensor Controller

Team Members:

Vishwanath Balakuntla Ramesh

Sensor Interface schedule

Hardware Design

We used 3 Parallax Ping ultrasonic distance sensors for obstacle detection and avoidance. Non-contact distance can be measured from about 2 cm (0.8 inches) to 3 meters (3.3 yards).

The PING))) sensor works by transmitting an ultrasonic burst and providing an output pulse that corresponds to the time required for the burst echo to return to the sensor. By measuring the echo pulse width, the distance to target can easily be calculated.

Three sensors were placed in front (front_left, front_center, front_right). The image below shows the wired connections between sensors and SJOne board.

Parallax ping sensor

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.

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.

Motor & I/O Controller

Team Members:

Sameer Saran
Jaswanth Bhimanapalli

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.

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.

Bluetooth and Bridge(Android) Connections

Team Members:

Sucharitha Sirigreddy
Karthikeya Rao GV

This section includes high level implementation details regarding the Android app connectivity with the Bluetooth module of the RC car. It gives a overview of building the android app, communication between the Bluetooth and Android app on a mobile device, routing mechanisms during the navigation.

Hardware Design

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

Bluetooth Controller Pin Connections

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.

Below is the representation of the bridge communication.

Bridge Controller Design

Flow Chart:

Flow Chart of the Bluetooth and Android design is as follows.

Android and Bluetooth Controller Flow Chart

Bluetooth Android Interface Commands

Android -Bluetooth Controller Communication Table

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.

Implementation Description:

Once the Car is ready, through the Android application the Bluetooth would be paired with HC-06 module on click of BTon button, which turns on the Bluetooth on the android phone and connects to Car’s HC-06 Bluetooth device. Post which, we would send a start signal from the app, which would sync and start the car. This signal is hardcoded as ‘1’, and is encoded before sending from the android. This signal when received from the Bluetooth module, would decode and read the message and later encode and pass it on over the CAN to the Master.

After this syncing, the Master would initiate other modules; post which GPS module would send the location signal over the CAN. This signal is again decoded and sent over to the Android as a line having latitude and longitude and prefixed and post-fixed with “#” and “!” , for easier identification in the Android. Location button would enable the current location of the device, which would be marked on the map, this would be enabled on click of start itself. This would also enable Bluetooth module to detect the messages over the CAN to be displayed on the app, like RPM values and GPS data. These are again encoded and sent over to Android, which would display them in respective text boxes.

Route Button on the app would be initiated once we set these and the source and destination by 2 clicks on the maps in the app and start getting the GPS location from HC-06. Route Button on click would detect the GPS location from the car and send out next way points till the destination. The Kill switch is implemented as Stop Button, which sends of “0” signal, which is received by the Bluetooth and sent over the CAN Bus to master, to stop the Motor.

Geographical Controller

Team Members:

Veena Manasa Kanakamalla
Arpita Ramanath

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.

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.

Master Controller

Team Members:

Ajai Krishna Velayutham
Goutam Madhukeshwar Hegde

Master Controller Schedule

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.

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.

Testing & Technical Challenges

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

My Issue #1

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Conclusion

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Project Video

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GitLab Source Code

• Git Code for Team AutoNav

References

Acknowledgement

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References Used

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Appendix

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