F16: Titans

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Revision as of 21:45, 11 October 2016 by Proj user12 (talk | contribs) (Central Controller)

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Project Title

Abstract

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Objectives & Introduction

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Track Progress in KanBan

Team Members & Responsibilities

  • Master Controller
    • Haroldo Filho
    • Urvashi Agrawal
  • Motor Controller
    • Sant Prakash Soy
    • Saketh Sai Narayana
  • GPS/Compass Module
    • Yang Thao
    • Daamanmeet Paul
  • Sensors
    • Kayalvizhi Rajagopal
  • Communication Bridge/Android App
    • Parth Pachchigar
    • Purvil Kamdar

Project Schedule

Week# Start Date End Date Task Status
1 09/13/2016 09/20/2016 Order Components and work distribution Completed
2 09/21/2016 09/27/2016 Set up git and wiki page Completed
3 09/28/2016 10/04/2016 Receive Components and distribute to group members Completed
4 10/05/2016 10/11/2016 Agree on control system architecture, assign CAN node priorities and decide on communication paradigm between Master and Nodes. Prep for prototype. In Process
5 10/12/2016 10/17/2016 Testing week for all nodes. Goal is for each node to have a basic interface to their sensors and actuators in place, where they are able to read data and manipulate control signals. For instance: sensors node should be reading distance, motors node should be able to generate motor speed control signals. Not Started
6 10/18/2016 10/24/2016 Interface all nodes over Canbus and coordinate order and status message transfers between Master and Nodes. Not Started
7 10/25/2016 10/31/2016 Integrate all hardware to the RC car, including power supplies from batteries. Test self powered prototype with the goal of controlling forward, reverse, left and right from the phone app. Test & fix basic integration bugs. Not Started
8 11/1/2016 11/7/2016 Continue with hardware/software development & integration and complete first prototype of the collision avoidance feature. Not Started
9 11/8/2016 11/14/2016 Integrate GPS coordinates from Android app into Master Node for autonomous feature. Not Started
10 11/15/2016 11/21/2016 Integrate all nodes into one. Start testing car's autonomous driving capabilities with path following from GPS waypoints from Android app. Not Started
11 11/22/2016 11/28/2016 Autonomous driving should be working by now. Focus on improving car's performance. Tweak all nodes to better performance, and fix last minutes bugs. Not Started
12 11/29/2016 Presentation date Final touches to improve overall vehicle's robustness. Self-fixing nodes, reduce/eliminate unexpected behaviors and crashes. Not Started

Parts List & Cost

Item# Part Desciption Vendor Qty Cost
1 RC Car - Traxxas 1/10 Slash 2WD Amazon 1 $189.95
2 Traxxas 2872X 5000mAh 11.1V 3S 25C LiPo Battery Amazon 1 $56.99
3 Traxxas 7600mAh 7.4V 2-Cell 25C LiPo Battery Amazon 1 $70.99
4 Traxxas 2970 EZ-Peak Plus 4-Amp NiMH/LiPo Fast Charger Amazon 1 $35.99
5 Bluetooth 4.0 BLE Bee Module (Dual Mode) Robotshop 1 $19.50
6 Serial Graphics LCD (128x64) Sparkfun 1 $41.55
7 LV Maxsonar EZ0 Ultrasonic sensors Robotshop 5 $124.75

Sensor Controller

Schedule

Week# Start Date End Date Task Status
1 09/13/2016 09/20/2016 Investigate on what type of sensors are needed and the model of sensors to use and order them. Completed
2 09/21/2016 09/27/2016 Interface one sonic sensor and test with different environment conditions. Completed
3 09/28/2016 10/11/2016 Interface all the front sensors. Stress test the sensors & log the values on SD card. Design a filter based on the log so that reliable readings are sent to the master. Completed
4 10/12/2016 10/24/2016 Integrate sensors with motors and test the sensor values while car is on the move. In Process
5 10/12/2016 10/24/2016 Mount the sensors & sensor controller on the car and integrate it with rest of the controllers. Not Started
6 10/24/2016 11/07/2016 Tune & optimize the sensor filter logic and the sensor mount as required. Not Started

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.

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

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.

Motor & I/O Controller

Schedule

Week# Start Date End Date Task Status
1 09/13/2016 09/20/2016 Research on components requirement based on past projects. Completed
2 09/13/2016 09/20/2016 Order motor controller related components: Traxxas RPM sensor, (Servo motor, DC motor and ESC)Included in traxxas RC car. Completed
3 09/13/2016 09/20/2016 Reverse engineering Traxxas ESC, signal receiver, and signal transmitter to learn about basic functionality of the car. Completed
4 09/13/2016 09/20/2016 Experiment and Research on voltage requirements for Servo and DC motor. Completed

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.

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

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.

Geographical Controller

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. CMPE243 F16 Titans GPS Module.jpg

GPS Module: Readytosky Ublox NEO-M8N

This GPS module uses UART serial communication interface. The refresh rate ranges from 1Hz up to 10Hz with a default baud rate of 9600bps. This module is an updated version to the Ublox NEO-M7N which brings improved accuracy of up to 0.9 meters using its build in antenna.

Specifications:

  • Power Supply:DC Voltage 2.8V~6.0V
  • Power Consumption: 50mA@5V
  • Support for GPS,GLONASS,Galileo,BeiDou,QZSS and SBAS
  • 72 Searching Channel
  • Receiving Sensitivity:Trace -167dBm, Capture-148dBm
  • Positioning Time:Cold Start:avg26s, Warm Start:avg25s, Hot Start:avg3s
  • positioning accuracy:2m At Open Wind
  • Output Frequency:1Hz-10Hz,Default 1Hz
  • Speed accuracy:0.1 m/s (Without Aid)
  • Acceleration accuracy:0.1 m/s (Without Aid)
  • Dynamic Characteristics:Max Height:18000m, Max Speed:515m/s, Max Acceleration:4G
  • UART Interface:UART Port:TXDA and RXDA
  • Support Rate:4800bps to 115200bps,Default 9600dps
  • Working Temperature:-40℃-+85℃
  • Storage Temperature:-40℃-+85℃
  • Diameter:45mm
  • Height:6mm
  • Weight:10g
  • 6pins 1.25mm port


GPS Connector Definition:

  • GND,
  • TX,data output
  • RX,data intput
  • VCC,2.8V-6V

GeoSensor-Razor imu.jpg

Razor IMU - 9 Degrees of Freedom

The 9DOF Razor IMU incorporates three sensors - an ITG-3200 (MEMS triple-axis gyro), ADXL345 (triple-axis accelerometer), and HMC5883L (triple-axis magnetometer) - to give you nine degrees of inertial measurement. The outputs of all sensors are processed by an on-board ATmega328 and output over a serial interface.

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

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.

Communication Bridge Controller

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

Here is the hardware block diagram of Communication Bridge Controller.

Hardware block diagram for Communication Bridge Module

Here is the hardware block diagram of Communication Bridge Controller. Here is the hardware block diagram of Communication Bridge Controller. Here is the hardware block diagram of Communication Bridge Controller.

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

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.

Central Controller

Schedule

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.

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

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.


My Issue #1

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Conclusion

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Project Video

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Project Source Code

References

Acknowledgement

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References Used

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Appendix

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