S22: Testla

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Testla

<Group Pic>



Abstract

The Testla project is the culmination of our efforts to create an autonomously operated RC Car by pooling together our experience in software design, hardware design, power systems, and mobile application development. Project development started in February of 2022 and ended in May. (NOTE: One more sentence probably)

Introduction

The project was divided into 5 modules:

  • Bridge and Sensor Information
  • Motor Operation
  • Geological Information
  • Driver and LCD Manager
  • Android Application

Team Members & Responsibilities

Gitlab Project Link

<Provide ECU names and members responsible> <One member may participate in more than one ECU>

  • Sensor
    • Bang Nguyen --couldn't find your gitlab
  • Testing Team
    • Link to Gitlab user1
    • Link to Gitlab user2

(not sure exactly which role Bang is doing...)



Schedule

Week# Start Date End Date Task Status
1 02/15/2022 02/21/2022
  • Read previous projects, gather information and discuss among the group members.
Completed
2 02/22/2022 02/28/2022
  • Distribute modules to each team member.
Completed
3 03/01/2022 03/07/2022
  • Purchased the RC Car
  • Purchase sensors
Completed
4 03/08/2022 03/14/2022
  • Learning to use CAN BUSMASTER
Completed
5 03/15/2022 03/21/2022
  • DBC file discussed and implemented
Completed
6 03/22/2022 03/28/2022
  • Discuss modules needed for PCB, any feature requests
Incomplete
7 03/29/2022 04/04/2022
  • tbd
Incomplete
8 04/05/2022 04/11/2022
  • tbd
Incomplete
9 04/12/2022 04/18/2022
  • tbd
Incomplete
10 04/19/2022 04/25/2022
  • tbd
Incomplete
11 04/26/2022 05/02/2022
  • tbd
Incomplete
12 05/03/2022 05/09/2022
  • tbd
Incomplete
13 05/10/2022 05/16/2022
  • tbd
Incomplete
14 05/17/2022 05/25/2022
  • Final working car
Incomplete


Parts List & Cost

Item# Part Desciption Vendor Qty Cost
1 Unassembled RC Car Traxxas [1] 1 $279.99
2 CAN Transceivers Amazon [2] 1 $8.99
2 CAN Transceivers Amazon [3] 1 $8.99
2 CAN Transceivers Amazon [4] 1 $8.99
2 CAN Transceivers Amazon [5] 1 $8.99
2 CAN Transceivers Amazon [6] 1 $8.99


Printed Circuit Board

<Picture and information, including links to your PCB>



CAN Communication

<Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.>

Hardware Design

<Show your CAN bus hardware design>

DBC File

<Gitlab link to your DBC file> [7] <You can optionally use an inline image>




Sensor ECU

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

< List of problems and their detailed resolutions>



Motor ECU

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

< List of problems and their detailed resolutions>



Geographical Controller

The Geological controller is responsible for determining the position of the vehicle as well as the distance and bearing to desired destination.

Adafruit gps.jpg

Hardware Design

An Adafruit Ultimate GPS breakout module using the MTK3339 chipset is interfaced over UART to the Geological controller to provide latitude and longitude updates.

TODO: interface and explain compass

Software Design

On startup the GPS module is initialized to provide updates at 10Hz with a 115200 baud rate. Additionally, the Bridge and Sensor controller sends a desired latitude and longitude to the Geo controller over the CAN bus.

The desired and current position are used to calculate a distance and bearing using the haversine formula shown below.

Haversine.PNG

Moveable Type Scripts: Calculate distance, bearing and more between Latitude/Longitude points

Technical Challenges

< List of problems and their detailed resolutions>





Communication Bridge Controller & LCD

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

< List of problems and their detailed resolutions>



Master Module

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

< List of problems and their detailed resolutions>



Mobile Application

<Picture and link to Gitlab>

Hardware Design

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

< List of problems and their detailed resolutions>






Conclusion

<Organized summary of the project>

<What did you learn?>

Project Video

Project Source Code

Advise for Future Students

<Bullet points and discussion>

Acknowledgement

References