S15: Cyclops: Smart RC Car - Revision history

146 user5: /* Schedule */

2015-05-24T22:27:26Z

‎Schedule

146 user5: /* Schedule */

2015-05-24T20:57:22Z

‎Schedule

146 user5: /* Proximity Sensors */

2015-05-24T20:43:36Z

‎Proximity Sensors

146 user5 at 20:22, 24 May 2015

2015-05-24T20:22:40Z

146 user5: /* Implementation */

2015-05-24T20:21:41Z

‎Implementation

146 user5: /* Magnetometer */

2015-05-24T20:19:16Z

‎Magnetometer

146 user5: /* Issue #4 */

2015-05-24T20:10:26Z

‎Issue #4

146 user5: /* Testing & Technical Challenges */

2015-05-24T20:10:13Z

‎Testing & Technical Challenges

146 user5: /* Issue #3 */

2015-05-24T20:09:49Z

‎Issue #3

146 user5: /* GPS */

2015-05-24T20:09:06Z

‎GPS

@@ Line 91: / Line 91: @@
 | Obstacle avoidance - mostly complete
+|
-GPS Navigation - In Progress
+/24
 |-
 ! scope="row"| 4
 | 05/08
 | Object Tracking / Lane Guidance Completed
-| Pending
+| Decided to avoid lane guidance due to its complexity
+and overhead along with lack of time
 |-
 ! scope="row"| 5
 | 05/15
 | Testing and Verification
-| Pending
+| In progress
+| 5/20
 |-
 ! scope="row"| 6
@@ Line 109: / Line 110: @@
 | More Testing and Verification
-| Pending
+| Complete
+|5/24
 |-
 ! scope="row"| 7

@@ Line 109: / Line 109: @@
 | More Testing and Verification
 | Pending
+|

← Older revision		Revision as of 20:43, 24 May 2015
Line 279:		Line 279:

	==Proximity Sensors==		==Proximity Sensors==
		+	[[File:S15_146_G6_sonarfront.jpg‎\|center\|frame\|MB1010
		+	LV-MaxSonar®-EZ1 front]][[File:S15_146_G6_sonarback.PNG‎\|center\|frame\|MB1010
		+	LV-MaxSonar®-EZ1 back]]

		+	The proximity sensors used were MB1010 LV-MaxSonar®-EZ1, which were provided to us. These sensors use sound waves in order to range find and detect objects within a certain distance. The minimum distance for detection is 6 inches, while the maximum is 254 inches with a 1 inch resolution. The sensor can only range every 50ms. The sensor has three different methods to interface with.
		+
		+	* RS232 Serial
		+	* PWM
		+	* Analog voltage output
		+
		+	During power up, the sensor
		+
		+	===Implementation===
		+	The first method we used to try to interface with the sensor was through a UART port on our SJSUOne board. However, this proved to be troublesome as the sensor does not follow the RS232 standard and inverts all of its signals. In order to decode the signal we would have had to use a voltage inverter. To get around this, we decided to use the analog voltage output. The sensor will hold a base voltage while it sends out a pulse. As time goes on, the voltage will slowly begin to increase in 512 equal levels. The time it takes for the pulse to return to the sensor determines the final voltage it outputs over the AN pin. This results in a signal of (Vcc/512) per inch.

	== Testing & Technical Challenges ==		== Testing & Technical Challenges ==

← Older revision		Revision as of 20:22, 24 May 2015
Line 277:		Line 277:

	In order to compensate for our location on Earth and the way the Earth tilts, a declination angle must be used to compensate the final reading. This declination angle can be found at http://www.ngdc.noaa.gov/geomag-web/. The final value must also be adjust to ensure that it falls within the 0-2π range. In order to make the result more readable to us, the value was converted back into degrees.		In order to compensate for our location on Earth and the way the Earth tilts, a declination angle must be used to compensate the final reading. This declination angle can be found at http://www.ngdc.noaa.gov/geomag-web/. The final value must also be adjust to ensure that it falls within the 0-2π range. In order to make the result more readable to us, the value was converted back into degrees.
		+
		+	==Proximity Sensors==
		+

	== Testing & Technical Challenges ==		== Testing & Technical Challenges ==

@@ Line 276: / Line 276: @@
    headingDegrees = (tempheading * 180 / pi);
-In order to compensate for our location on Earth and the way the Earth tilts, a declination angle must be used to compensate the final reading. This declination angle can be found at http://www.ngdc.noaa.gov/geomag-web/. The final value must also be adjust to ensure that it falls within the 0-2π range. In order to make the result more readable to us, the value was also converted back into degrees.
+In order to compensate for our location on Earth and the way the Earth tilts, a declination angle must be used to compensate the final reading. This declination angle can be found at http://www.ngdc.noaa.gov/geomag-web/. The final value must also be adjust to ensure that it falls within the 0-2π range. In order to make the result more readable to us, the value was converted back into degrees.
 == Testing & Technical Challenges ==

@@ Line 259: / Line 259: @@
 In order to use the magnetometer, it first needed to be initialized and configured. The existing I2C base driver was used to send messages to the device who's manufacturer's supplied address was 0x3C. Configuration for this device is stored on two 8-bit registers, Configuration Register A and Configuration Register B. Configuration Register A holds the settings for number of samples averaged per measurement output, data output rate, and the measurement configuration bias. For out purposes, we used the default settings which were eight samples averaged, 15Hz data output rate, and no measurement bias. Configuration Register B holds the gain for the magnetometer. This gain setting ensures that the raw measurements of the Earth's magnetic field are within measurable values. If the values were too large, they would not be able to fit in the 16-bit data registers.
-Data is read into six separate registers. There are two registers for each X, Y, and Z readings. For our purposes the Z reading could be omitted because the magnetometer was positioned in a way where the XY plane is parallel to the Earth. The data for each reading is 16-bits wide; however, it is split into two separate 8-bit registers. In order to read the entire measurement, both registers must be read.
+Data is read into six separate registers. There are two registers for each X, Y, and Z readings. For our purposes the Z reading could be omitted because the magnetometer was positioned in a way where the XY plane is parallel to the Earth. The data for each reading is 16-bits wide; however, it is split into two separate 8-bit registers and is stored as a 2's compliment signed integer. In order to read the entire measurement, both registers must be read. The data obtained from these registers are raw magnetic readings and must be converted to a usable heading in degree format.
 == Testing & Technical Challenges ==

@@ Line 282: / Line 282: @@
 *    Reading the output from the magnetometer could be done in two ways, continuous and single reading. If we want to read continuously from the magnetometer, all six data registers must be read and then we must send a command to point back to the first data register. This proved tricky to implement with the existing I2C base driver, so we resorted to using the single reading method. This method does not require us to point back to the beginning of the data registers to take the next reading.
-== Issue #4 ==
+=== Issue #4 ===
 GPS XBee module from Seeedstudio v1.4
 *    Trying to capture the NMEA sentences and properly parse it. The GPS outputs data constantly, and you must be able to capture that properly. Make sure to properly setup your variables in order to capture the data.

@@ Line 281: / Line 281: @@
 Magnetometer reading issues.
 *    Reading the output from the magnetometer could be done in two ways, continuous and single reading. If we want to read continuously from the magnetometer, all six data registers must be read and then we must send a command to point back to the first data register. This proved tricky to implement with the existing I2C base driver, so we resorted to using the single reading method. This method does not require us to point back to the beginning of the data registers to take the next reading.
 == Conclusion ==

@@ Line 242: / Line 242: @@
 == GPS ==
-[[File:Example.jpg]]
+[[File:S15 146 G6 IMG GPS MODULE.png|center|frame]]
 For GPS, communication can be done over a few methods: I2C, UART, SPI, etc. For this project, UART will be used to collect data from the GPS module.