F17: Optimus - Revision history

Proj user5: /* Hardware Specifications */

2017-12-23T05:23:09Z

‎Hardware Specifications

Proj user5: /* Introduction */

2017-12-22T23:05:22Z

‎Introduction

Proj user5: /* Geographical Controller */

2017-12-22T22:43:54Z

‎Geographical Controller

Proj user5: /* Project Videos */

2017-12-22T22:02:34Z

‎Project Videos

Proj user5: /* Design Challenges */

2017-12-22T01:31:08Z

‎Design Challenges

Proj user5: /* CAN Bus Debugging */

2017-12-22T01:19:49Z

‎CAN Bus Debugging

Proj user5: /* Software Implementation */

2017-12-22T01:18:58Z

‎Software Implementation

Proj user5: /* Software Architecture Design */

2017-12-22T01:15:21Z

‎Software Architecture Design

Proj user5: /* DBC File */

2017-12-22T01:06:52Z

‎DBC File

Proj user5: /* Team Members & Responsibilities */

2017-12-22T00:58:51Z

‎Team Members & Responsibilities

← Older revision		Revision as of 05:23, 23 December 2017
Line 899:		Line 899:

	* 2. RPM Sensor		* 2. RPM Sensor
−	~~[[File:CmpE243_F17_RPM_Sensor.jpg ‎\|thumb\|center\|300px\|RPM Sensor]]~~
−	We use a hall effect Sensor to measure wheel's RPS (Rotations per second). A "trigger magnet" is installed in the spur gear and this hall effect sensor which is installed in the gear cover read the magnet once every revolution.
−	The sensor sends a high pulse with the varying voltage at the transducer caused by the magnet's proximity. The motor controller handles this pulse over external interrupt handler on the P0.26 port. This count is timely used to calculate the RPS and thereby the speed of our vehicle. A simple algorithm maintains the speed according to the measured RPS (Rotations per second) in the 10Hz task.
−
	The RPM sensor above requires a specific kind of Installation. '''STEPS ARE:'''		The RPM sensor above requires a specific kind of Installation. '''STEPS ARE:'''

@@ Line 1,189: / Line 1,189: @@
 The Pin Configuration is as follows:
-[[ File: CMPE243_F17_Pin.JPG|600px|thumb|centre|| Block Diagram]]
+[[ File: CMPE243_F17_Pin.JPG|400px|thumb|centre|| Block Diagram]]
 === Software Design ===

@@ Line 1,136: / Line 1,136: @@
 == '''Geographical Controller''' ==
-=== Design & Implementation ===
+=== Introduction ===
 '''GPS and Compass Module:'''
@@ Line 1,190: / Line 1,184: @@
 •	If electronic devices are added/removed/re-positioned.
 === Software Design ===

@@ Line 1,329: / Line 1,329: @@
 == '''Project Videos''' ==
-https://youtu.be/Os_0bN8rR10
 == '''Conclusion''' ==

@@ Line 816: / Line 816: @@
 === Design  Challenges ===
-The critical part in Obstacle Avoidance Algorithm is designing as two parts, 1. Detect obstacles 2. Avoid Obstacles. Since we get 360-degree view of obstacles, we need to group the zones into sectors and tracks to process the 360-degree detections and take decision-based
+The critical part in Obstacle Avoidance Algorithm is designing, 1. Obstacle detcetion 2. Obstacle avoidance. Since we get 360-degree view of obstacles, we need to group the zones into sectors and tracks to process the 360-degree detection and take decision accordingly.
 [[ File: CMPE243_F17_Optimus_ObstacleAvoidanceAlgo.png|700px|thumb|center|| Obstacle Avoidance Design]]

@@ Line 723: / Line 723: @@
 We used PCAN Dongle to connect to the host pc to monitor the CAN Bus traffic using BusMaster tool. The screenshot of the Bus Master log is shown below
-[[ File:CMPE243_F17_Optimus_Busmaster.png|600px|thumb|center|| BusMaster CAN Singal Log]]
+[[ File:CMPE243_F17_Optimus_Busmaster.png|600px|thumb|center|| BusMaster CAN Signal Log]]
 == '''Hardware & Software Architecture'''  ==

@@ Line 751: / Line 751: @@
 === Software Implementation ===
-The Master controllers run 2 major algorithms, Route Maneuvering and Obstacle Avoidance. The System start /stop is handled by master based on the Specific commands.
+The Master controller runs 2 major algorithms, Route Maneuvering and Obstacle Avoidance. The System start/stop is handled by master based on the Specific commands.
-The implicit requirement is that When the user selects the destination and route are calculated, the checkpoints are sent from Android through bridge controller. So, Once Geo Controller receives a complete set of checkpoints, the master controller starts the system based on the "Checkpoint ID". If the ID is a non-zero value, the route has started and Master controller runs the RouteManuveringAlgorithm.
+The implicit requirement is that When the user selects the destination, route is calculated and the checkpoints of the route are sent from Android through bridge controller to the Geo. Once Geo Controller receives a complete set of checkpoints, the master controller starts the system based on the "Checkpoint ID". If the ID is a non-zero value, the route has started and Master controller runs the Route Maneuvering Algorithm.
 The Overall control flow of master controller is shown in the below figure.

@@ Line 731: / Line 731: @@
 === Software Architecture Design ===
-The Master Controller Integrates the functionality of all other controllers and it acts as the Central Control Unit of the R/C car. Two of the major functionalities handled by Mater Controller is Obstacle avoidance and Route Maneuvering.
+The Master Controller Integrates the functionality of all other controllers and it acts as the Central Control Unit of the Self Navigating car. Two of the major functionalities handled by Master Controller is Obstacle avoidance and Route Maneuvering.
-The overview of Master Controller Software Architecture is to show in the below figure.
+The overview of Master Controller Software Architecture is as show in the figure below.
 [[ File: CMPE243_F17_Optimus_MasterSWArchitecture.png|700px|thumb|center|| SW Architecture]]
-As an analogy to Human driving, it receives the inputs from sensors to determine the surrounding of the R/C car and take decisions based on the environments and commands from the user. The input data it receives includes the following. The output of the Master controller is to direct the Motor with target Speed and Steering direction.
+As an analogy to Human driving, it receives the inputs from sensors to determine the surrounding of the Self Navigating car and take decisions based on the environment and current location of the car. The input received and output sent by the Master are as mentioned below:
-. Lidar Object Detections - To determine if there is an obstacle in the path of navigation
+Input to Master:
 . GPS and Compass Reading - To understand the Heading and Bearing angle to decide the direction of movement
 . User command from Android - To stop or Navigate to the Destination
 === Software Implementation ===

@@ Line 645: / Line 645: @@
 === '''DBC File''' ===
-The CAN message ids transmitted and received from all the controllers are designed based on the priority of the CAN messages.
+The CAN message id's transmitted and received from all the controllers are designed based on the priority of the CAN messages.
 The priority is as follows

@@ Line 88: / Line 88: @@
 == '''Team Members & Responsibilities''' ==
-*  Master Controller:
+*  '''Master Controller''':
 ** Revathy
-*  Motor Controller
+*  '''Motor Controller''':
 ** [https://www.linkedin.com/in/unnikrishnan-sreekumar-4a3b8922/ Unnikrishnan]<br>
 ** [https://www.linkedin.com/in/rajul-gupta-5b366ba9/ Rajul]<br>
-*  Sensor and I/O Controller:
+*  '''Sensor and I/O Controller''':
 ** [https://www.linkedin.com/in/sushma-nagaraj Sushma]<br>
 ** [https://www.linkedin.com/in/supradeepk/ Supradeep]<br>
 ** [https://www.linkedin.com/in/harshitha-bura-4926727a/ Harshitha]
-*  Android and Communication Bridge
+*  '''Android and Communication Bridge''':
 ** [https://www.linkedin.com/in/parimal-basu-67b92430 Parimal]<br>
 ** [https://www.linkedin.com/in/kripanandjha Kripanand Jha]<br>
 ** [https://www.linkedin.com/in/unnikrishnan-sreekumar-4a3b8922/ Unnikrishnan]<br>
-*  Geographical Controller:
+*  '''Geographical Controller''':
 ** [https://www.linkedin.com/in/sneha-shahi-8b1636152 Sneha]<br>
 ** [https://www.linkedin.com/in/sarveshharhare Sarvesh Harhare]<br>
-* Integration Testing
+* '''Integration Testing''':
 ** Revathy
 ** [https://www.linkedin.com/in/kripanandjha Kripanand Jha]<br>
 **[https://www.linkedin.com/in/unnikrishnan-sreekumar-4a3b8922/ Unnikrishnan]
-* PCB Design
+* '''PCB Design''':
 ** [https://www.linkedin.com/in/rajul-gupta-5b366ba9/ Rajul]<br>