S21: UTAH - Revision history

Proj user13: /* Challenges */

2022-04-05T17:36:57Z

‎Challenges

Proj user13: /* CAN Communication */

2021-10-14T18:35:21Z

‎CAN Communication

Proj user13: /* Introduction */

2021-08-29T16:38:14Z

‎Introduction

Proj user13: /* Team Members & Responsibilities */

2021-05-30T03:05:25Z

‎Team Members & Responsibilities

Proj user13: /* Project Video */

2021-05-29T05:07:42Z

‎Project Video

Proj user13: /* Schedule */

2021-05-29T04:24:47Z

‎Schedule

Proj user13: /* Schedule */

2021-05-29T04:23:17Z

‎Schedule

Proj user13: /* Parts List & Cost */

2021-05-29T04:21:03Z

‎Parts List & Cost

Proj user13: /* Parts List & Cost */

2021-05-29T04:17:08Z

‎Parts List & Cost

Proj user13: /* Technical Challenges */

2021-05-29T04:07:27Z

‎Technical Challenges

← Older revision		Revision as of 17:36, 5 April 2022
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	[[File:PCB.PNG\|1000px\|center\|thumb\|PCB Rendering front side]]		[[File:PCB.PNG\|1000px\|center\|thumb\|PCB Rendering front side]]
		+
		+	[[File:Car11.jpeg\|500px\|center\|thumb\|Final design of car]]
		+
		+

← Older revision		Revision as of 18:35, 14 October 2021
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	== CAN Communication ==		== CAN Communication ==
−	~~<Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.>~~

	Our message IDs were chosen based upon an agreed priority scheme. We assigned high priority IDs to messages that controlled the movement of the car, followed by sensor and GEO messages, and lowest priority messages were for debug and status.		Our message IDs were chosen based upon an agreed priority scheme. We assigned high priority IDs to messages that controlled the movement of the car, followed by sensor and GEO messages, and lowest priority messages were for debug and status.

@@ Line 24: / Line 24: @@
 # Sensors and bridge app
 # Motor
 === Team Members & Responsibilities ===

@@ Line 47: / Line 47: @@
 *Jonathan Tran '''''[https://gitlab.com/jtran1028 Gitlab]'''''
 ** Sensors Controller
 [[File:Download.jpeg|200px|middle]]
 *Shreevats Gadhikar '''''[https://gitlab.com/Shreevats Gitlab]''''
 ** Motor Controller

@@ Line 1,392: / Line 1,392: @@
 === Project Video ===
 [https://www.youtube.com/watch?v=iyOFE1iFbg4 Youtube]
 === Project Source Code ===

@@ Line 339: / Line 339: @@
    <div style="text-align:center">05/30/2021</div>
+|
-*<span style="color:black"></span>
+*<span style="color:black">Demo Project</span>
-*<span style="color:black"></span>
+*<span style="color:black">Finalize Wiki Documentation</span>
+|
-* <span style="color:red">Incomplete</span>
+* <span style="color:green">Completed</span>
-* <span style="color:red">Incomplete</span>
+* <span style="color:green">Completed</span>
 |-
 |}

@@ Line 300: / Line 300: @@
 *<span style="color:magenta">Finished tuning PID and tested RC Car driving on slope</span>
+|
-* <span style="color:red">Incomplete</span>
+* <span style="color:green">Completed</span>
-* <span style="color:red">Incomplete</span>
+* <span style="color:green">Completed</span>
 * <span style="color:green">Completed</span>
 * <span style="color:green">Completed</span>
@@ Line 313: / Line 313: @@
+|
 *<span style="color:black">Update Wiki schedule and begin draft for individual controller documentation</span>
+|
 * <span style="color:green">Completed</span>
 |-
 ! scope="row"| 14
@@ Line 325: / Line 323: @@
+|
 *<span style="color:black">Update Wiki individual controller and general documentation</span>
 *<span style="color:orange">Last minute bug fixes/refining</span>
 *<span style="color:orange">Waypoint algorithm integration and test</span>
 *<span style="color:magenta">Last minute bug fixes/refining & code cleanup</span>
+|
-* <span style="color:orange">In Progress</span>
+* <span style="color:green">Completed</span>
 * <span style="color:green">Completed</span>
 * <span style="color:green">Completed</span>

@@ Line 422: / Line 422: @@
 | $40.00
 |-
-! scope="row"|10
+! scope="row"|11
 | Maxbotix MB1010 LV-MaxSonar-EZ1 Ultra Sonic Sensors
 | Maxbotix [https://www.maxbotix.com/Ultrasonic_Sensors/MB1010.htm]

@@ Line 420: / Line 420: @@
 | Amazon [https://www.amazon.com/SN65HVD230-CAN-Board-Communication-Development/dp/B00KM6XMXO/ref=sr_1_1?dchild=1&keywords=can+waveshare&qid=1622233988&sr=8-1]
 | 4
 | $40.00
 |}

@@ Line 746: / Line 746: @@
 === Technical Challenges ===
-The biggest challenge was cross talk. The median function was added as a filtering mechanism. Although cross talk was minimized by having the sensors angled away from each other, there was still occurrences of objects being "detected" even when no objects were within a threshold for object avoidance. This may be a result of movement of the vehicle. Thus, if an object was to be "detected", the RC car will maneuver to avoid the object even if no object was in close proximity. The median function would return the median of the last three range readings. This minimized the chance of false positives occurring for object avoidance. However, this introduced new issues. As each sensor is updated individually every 50ms, all sensors will have updated values after 200ms. With the median filter taking into account the pass three range readings, this will cause a huge delay between readings. Thus, if an object is to be detected below a threshold, the previous value must have also been below the threshold in order for the object to be avoided. Therefore, two range readings will be needed to trigger a response. Which worse case can be 400ms. A better approach would have been to check keep track of the previous value and keep a delta value in which the current sensor reading can be deemed as valid.
+The biggest challenge was cross talk. The median function was added as a filtering mechanism. Although cross talk was minimized by having the sensors angled away from each other, there was still occurrences of objects being "detected" even when no objects were within a threshold for object avoidance. This may be a result of movement of the vehicle. Thus, if an object was to be "detected", the RC car will maneuver to avoid the object even if no object was in close proximity. The median function would return the median of the last three range readings. This minimized the chance of false positives occurring for object avoidance. However, this introduced new issues. As each sensor is updated individually every 50ms, all sensors will have updated values after 200ms. With the median filter taking into account the pass three range readings, this will cause a huge delay between readings. Thus, if an object is to be detected below a threshold, the previous value must have also been below the threshold in order for the object to be avoided. Therefore, two range readings will be needed to trigger a response. Which worse case can be 400ms. A better approach would have been to keep track of the previous value and keep a delta value in which the current sensor reading can be deemed as valid compared to the previous value.
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