S22: Silver Arrow - Revision history

243 user3: /* Advice for Future Students */

2022-05-28T18:46:24Z

‎Advice for Future Students

Proj user5: /* References */

2022-05-28T15:58:42Z

‎References

Proj user5: /* References */

2022-05-28T15:58:05Z

‎References

Proj user5: /* Master Module */

2022-05-28T15:56:09Z

‎Master Module

Proj user5: /* Compass */

2022-05-28T15:45:52Z

‎Compass

Proj user5: /* Object Detection Logic */

2022-05-28T15:43:34Z

‎Object Detection Logic

Proj user5: /* DBC File */

2022-05-28T15:41:51Z

‎DBC File

Proj user5: /* Object Detection Logic */

2022-05-28T07:36:42Z

‎Object Detection Logic

Proj user5: /* Compass */

2022-05-28T07:35:41Z

‎Compass

Proj user5: /* CAN Communication */

2022-05-28T07:32:57Z

‎CAN Communication

@@ Line 1,508: / Line 1,508: @@
 === Advice for Future Students ===
 * Start Early. Go through previous years' wiki pages and set achievable milestones. Starting early provides your team with a number of advantages over other teams. You'll run into problems sooner, which means you'll have more time to fix them. Also, if your team gets started early, you may always check to see if the modules they purchased are malfunctioning.
-* Invest in good parts and always buy spare parts. "Good Parts"  may not necessarily be "expensive". Wen went through different project teams and used their advice on what parts to order and not. Don't underestimate the amount of mechanical design and work that goes into getting things up and running.
+* Invest in good parts and always buy spare parts. "Good Parts"  may not necessarily be "expensive". We went through different project teams and used their advice on what parts to order and not. Don't underestimate the amount of mechanical design and work that goes into getting things up and running.
 * Figure out the power circuit as soon as possible. Even though it is possible to power the different modules and their subsequent peripherals from the car's ESC, it is advised NOT to do that. Be extra careful while making connections as this project has a lot. Use color coding for wire and avoid "spaghetti wire". You'll need enough current to power all of the controllers and components.
 * Integrating LCD on the car chassis helps a lot as it is better to decode the car (even when it's moving) than connecting the DB9 connector and looking over the BUSMASTER.

@@ Line 1,517: / Line 1,517: @@
 === References ===
 [https://developer.android.com/guide/topics/connectivity/bluetooth/transfer-data#kotlin/ Android Bluetooth Data Transfer]
 [https://www.pololu.com/file/0J434/LSM303DLH-compass-app-note.pdf]
 [https://www.instructables.com/Easy-hard-and-soft-iron-magnetometer-calibration/ Compass Calibration]

← Older revision		Revision as of 15:58, 28 May 2022
Line 1,517:		Line 1,517:
	=== References ===		=== References ===
	[https://developer.android.com/guide/topics/connectivity/bluetooth/transfer-data#kotlin/ Android Bluetooth Data Transfer]		[https://developer.android.com/guide/topics/connectivity/bluetooth/transfer-data#kotlin/ Android Bluetooth Data Transfer]
		+	[https://www.pololu.com/file/0J434/LSM303DLH-compass-app-note.pdf]
		+	[https://www.instructables.com/Easy-hard-and-soft-iron-magnetometer-calibration/ Compass Calibration]

← Older revision		Revision as of 15:56, 28 May 2022
Line 1,182:		Line 1,182:

	== Master Module ==		== Master Module ==
		+	[https://gitlab.com/naveena.sura/silver-arrow/-/commits/DRIVER_NODE/ GitLab Link: Driver Controller]
		+
	The master module or the DRIVER NODE is the central node of our system which controls the navigation of the car. It takes he sensor values from the SENSOR NODE and geographical data from the GEO NODE and takes the navigation decision as per algorithm and sends the motor commands to the MOTOR NODE.		The master module or the DRIVER NODE is the central node of our system which controls the navigation of the car. It takes he sensor values from the SENSOR NODE and geographical data from the GEO NODE and takes the navigation decision as per algorithm and sends the motor commands to the MOTOR NODE.

@@ Line 1,073: / Line 1,073: @@
 Our method involved first getting raw x, y and z values of the magnetometer from the compass. These values are non calibrated. Hence we then needed modify these value through the added calibration matrixes in the code. How to calculate these values can be find the "Technical Challenges Faced" column. The modified values are then used to calculate the compass heading using the formula as mentioned in the code snippet below
-[[File:Compass_(1).jpg|600px|left|caption|thumb| Flow chart Compass Calibration]] [[File:compasscalculations.JPG|300px|centre|caption|thumb| Calibration Matrix]]
+[[File:Compass_(1).jpg|600px|left|caption|thumb| Flow chart Compass Computation]] [[File:compasscalculations.JPG|300px|centre|caption|thumb| Calibration Matrix]]
 <h6> Compass calculations </h6>

@@ Line 1,227: / Line 1,227: @@
 This logic navigate the car according to the objects detected by the ultrasonic sensors mounted over the SENSOR NODE. As the object is detected, driver takes appropriate decisions and navigate the car without hitting the detected object. The algorithm is briefly described in the flow chart below.
-[[File:ObjectDetection.jpg|700px|middle|centre|thumb| Flow chart of Sensor's Working]]
+[[File:ObjectDetection.jpg|700px|middle|centre|thumb| Object Detection Logic]]
 <h6>Navigation according to object detection algorithm: </h6>

@@ Line 425: / Line 425: @@
 BS_:
-BU_: DBG DRIVER IO MOTOR SENSOR
+BU_: DBG DRIVER IO MOTOR SENSOR GEO
-BO_ 100 DRIVER_HEARTBEAT: 1 DRIVER
+BO_ 100 BRIDGE_APP_COMMANDS: 1 SENSOR
-  SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" SENSOR,MOTOR
+  SG_ APP_COMMAND : 0|2@1+ (1,0) [0|0] "" GEO,DRIVER
-BO_ 200 SENSOR_SONARS: 4 SENSOR
+BO_ 102 SENSOR_SONARS_ROUTINE: 5 SENSOR
-  SG_ SENSOR_SONARS_left : 0|10@1+ (1,0) [0|800] "inch" DRIVER
+  SG_ SENSOR_SONARS_left : 0|10@1+ (1,0) [0|0] "inch" DRIVER
   SG_ SENSOR_SONARS_right : 10|10@1+ (1,0) [0|0] "inch" DRIVER
   SG_ SENSOR_SONARS_middle : 20|10@1+ (1,0) [0|0] "inch" DRIVER
 CM_ BU_ DRIVER "The driver controller driving the car";
@@ Line 456: / Line 530: @@
 VAL_ 100 DRIVER_HEARTBEAT_cmd 2 "DRIVER_HEARTBEAT_cmd_REBOOT" 1 "DRIVER_HEARTBEAT_cmd_SYNC" 0 "DRIVER_HEARTBEAT_cmd_NOOP" ;
 </pre>

← Older revision		Revision as of 07:32, 28 May 2022
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	== CAN Communication ==		== CAN Communication ==
−	~~<Talk about your message IDs or communication strategy, such as periodic transmission, MIA management etc.>~~

	CAN protocol was used to establish the communication between the four controllers. The Message IDs for the messages transmitted by the four controllers were selected such that the data that has to be sampled more often than others had the highest priority in arbitration.		CAN protocol was used to establish the communication between the four controllers. The Message IDs for the messages transmitted by the four controllers were selected such that the data that has to be sampled more often than others had the highest priority in arbitration.