Difference between revisions of "S23: Meh-sla Automotive"
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=== Hardware Design - Ultrasonic Sensors === | === Hardware Design - Ultrasonic Sensors === | ||
+ | We used HC-SR04 ultrasonic sensors for obstacle detection. It could provide a reasonable range from 2 cm to 400 cm non-contact measurement. The ranging accuracy is approximately 3mm and the effectual angle is less than 15°. It needs to be powered by a 5V power supply. The hardware specification of the sensor is given as follows | ||
+ | HC-SR04 specifications and dimensions | ||
+ | Working Voltage: DC 5V | ||
+ | Working Current: 15mA | ||
+ | Working Frequency: 40Hz | ||
+ | Max Range: 4m | ||
+ | Min Range: 2cm | ||
+ | Measuring Angle: 15 degree | ||
+ | Trigger Input Signal: 10µS TTL pulse | ||
+ | Echo Output Signal Input TTL lever signal and the range in proportion | ||
+ | Dimensions: 45 * 20 * 15mm | ||
+ | |||
[[File:Sensor_block_diagram.jpg|500px|center|thumb|SJ2-Ultrasonic sensor connections]] | [[File:Sensor_block_diagram.jpg|500px|center|thumb|SJ2-Ultrasonic sensor connections]] | ||
Revision as of 01:55, 16 May 2023
Contents
Project Title
<Team Name>
Abstract
<2-3 sentence abstract>
Introduction
The project was divided into N modules:
- Sensor ...
- Motor..
- ...
- Android
Team Members & Responsibilities
<Team Picture>
Gitlab Project Link - [1]
<Provide ECU names and members responsible> <One member may participate in more than one ECU>
- Sensor
- Link to Gitlab user1
- Link to Gitlab user2
- Motor
- Link to Gitlab user1
- Link to Gitlab user2
- Geographical
- Link to Gitlab user1
- Link to Gitlab user2
- Communication Bridge Controller & LCD
- Link to Gitlab user1
- Link to Gitlab user2
- Android Application
- Link to Gitlab user1
- Link to Gitlab user2
- Testing Team
- Link to Gitlab user1
- Link to Gitlab user2
Schedule
Week # | Start Date | End Date | Task | Status |
---|---|---|---|---|
1 | 2/12/2023 | 2/18/2023 |
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2 | 2/19/2023 | 2/25/2023 |
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3 | 26/2/2023 | 3/4/2023 |
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4 | 3/5/2023 | 3/11/2023 |
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5 | 3/12/2023 | 3/18/2023 |
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6 | 3/19/2023 | 3/25/2023 |
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7 | 3/26/2023 | 4/1/2023 |
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8 | 4/2/2023 | 4/8/2023 |
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9 | 4/9/2023 | 4/15/2023 |
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10 | 4/16/2023 | 4/22/2023 |
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11 | 4/23/2023 | 4/29/2023 |
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12 | 4/30/2023 | 5/6/2023 |
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13 | 5/7/2023 | 5/13/2023 |
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14 | 5/14/2023 | 5/19/2023 |
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Parts List & Cost
Item# | Part Desciption | Vendor | Qty | Cost |
---|---|---|---|---|
1 | RC Car | Traxxas | 1 | $250.00 |
2 | CAN Transceivers MCP2551-I/P | Microchip [2] | 8 | Free Samples |
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
VERSION "" NS_ : BA_ BA_DEF_ BA_DEF_DEF_ BA_DEF_DEF_REL_ BA_DEF_REL_ BA_DEF_SGTYPE_ BA_REL_ BA_SGTYPE_ BO_TX_BU_ BU_BO_REL_ BU_EV_REL_ BU_SG_REL_ CAT_ CAT_DEF_ CM_ ENVVAR_DATA_ EV_DATA_ FILTER NS_DESC_ SGTYPE_ SGTYPE_VAL_ SG_MUL_VAL_ SIGTYPE_VALTYPE_ SIG_GROUP_ SIG_TYPE_REF_ SIG_VALTYPE_ VAL_ VAL_TABLE_ BS_: BU_: DBG DRIVER MOTOR SENSOR GEO BO_ 100 DRIVER_HEARTBEAT: 1 DRIVER SG_ DRIVER_HEARTBEAT_cmd : 0|8@1+ (1,0) [0|0] "" SENSOR,MOTOR BO_ 101 MOTOR_SPEED: 1 DRIVER SG_ DC_MOTOR_DRIVE_SPEED_sig : 0|8@1+ (0.1,-10) [-10|10] "kph" MOTOR BO_ 102 MOTOR_ANGLE: 1 DRIVER SG_ SERVO_STEER_ANGLE_sig : 0|8@1+ (1,-45) [-45|45] "degrees" MOTOR BO_ 200 SENSOR_SONARS: 4 SENSOR SG_ SENSOR_SONARS_left : 0|8@1+ (1,0) [0|158] "inch" DRIVER SG_ SENSOR_SONARS_right : 8|8@1+ (1,0) [0|158] "inch" DRIVER SG_ SENSOR_SONARS_front : 16|8@1+ (1,0) [0|158] "inch" DRIVER SG_ SENSOR_SONARS_rear : 24|8@1+ (1,0) [0|158] "inch" DRIVER BO_ 202 GPS_DESTINATION_LOCATION: 8 SENSOR SG_ GPS_DEST_LAT_SCALED_1000000 : 0|32@1- (1,0) [0|0] "Degrees" GEO SG_ GPS_DEST_LONG_SCALED_1000000 : 32|32@1- (1,0) [0|0] "Degrees" GEO BO_ 203 GEO_STATUS: 8 GEO SG_ GEO_STATUS_COMPASS_HEADING : 0|12@1+ (0.1,0) [0|359.9] "Degrees" DRIVER,SENSOR SG_ GEO_STATUS_COMPASS_BEARING: 12|12@1+ (0.1,0) [0|359.9] "Degrees" DRIVER,SENSOR SG_ GEO_STATUS_DISTANCE_TO_DESTINATION : 24|16@1+ (0.01,0) [0|0] "Meters" DRIVER,SENSOR BO_ 204 GPS_CURRENT_INFO: 8 GEO SG_ GPS_CURRENT_LAT_SCALED_1000000 : 0|32@1- (1,0) [0|0] "degrees" DRIVER,SENSOR,MOTOR SG_ GPS_CURRENT_LONG_SCALED_1000000 : 32|32@1- (1,0) [0|0] "degrees" DRIVER,SENSOR,MOTOR BO_ 205 GPS_CURRENT_DESTINATIONS_DATA: 8 GEO SG_ CURRENT_DEST_LAT_SCALED_1000000 : 0|32@1- (1,0) [0|0] "Degrees" DRIVER SG_ CURRENT_DEST_LONG_SCALED_1000000 : 32|32@1- (1,0) [0|0] "Degrees" DRIVER BO_ 206 BRIDGE_APP_COMMANDS: 1 SENSOR SG_ APP_COMMAND : 0|2@1+ (1,0) [0|0] "" GEO,DRIVER BO_ 300 MOTOR_STATUS: 3 MOTOR SG_ MOTOR_STATUS_wheel_error : 0|1@1+ (1,0) [0|0] "" DRIVER,IO SG_ MOTOR_STATUS_speed_kph : 8|16@1+ (0.001,0) [0|0] "kph" DRIVER,IO BO_ 401 MOTOR_DEBUG: 1 MOTOR SG_ IO_DEBUG_test_unsigned : 0|8@1+ (1,0) [0|256] "sec" DBG CM_ BU_ DBG "The debugging node for testing dbc with the car"; CM_ BU_ DRIVER "The driver controller driving the car"; CM_ BU_ MOTOR "The motor controller of the car"; CM_ BU_ SENSOR "The sensor controller of the car"; CM_ BU_ GEO "The geological Controller of the car"; CM_ BO_ 100 "Sync message used to synchronize the controllers"; CM_ SG_ 100 DRIVER_HEARTBEAT_cmd "Heartbeat command from the driver"; CM_ SG_ 101 DC_MOTOR_DRIVE_SPEED_sig "The speed in kph to set the motor speed. TODO: choose kph/mph"; CM_ SG_ 102 SERVO_STEER_ANGLE_sig "The direction in degrees to set the RC car servo direction."; BA_DEF_ "BusType" STRING ; BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0; BA_DEF_ SG_ "FieldType" STRING ; BA_DEF_DEF_ "BusType" "CAN"; BA_DEF_DEF_ "FieldType" ""; BA_DEF_DEF_ "GenMsgCycleTime" 0; BA_ "GenMsgCycleTime" BO_ 100 1000; BA_ "GenMsgCycleTime" BO_ 200 50; BA_ "FieldType" SG_ 100 DRIVER_HEARTBEAT_cmd "DRIVER_HEARTBEAT_cmd"; VAL_ 100 DRIVER_HEARTBEAT_cmd 2 "DRIVER_HEARTBEAT_cmd_REBOOT" 1 "DRIVER_HEARTBEAT_cmd_SYNC" 0 "DRIVER_HEARTBEAT_cmd_NOOP" ;
Sensor and Bridge Controller
Hardware Design - Ultrasonic Sensors
We used HC-SR04 ultrasonic sensors for obstacle detection. It could provide a reasonable range from 2 cm to 400 cm non-contact measurement. The ranging accuracy is approximately 3mm and the effectual angle is less than 15°. It needs to be powered by a 5V power supply. The hardware specification of the sensor is given as follows HC-SR04 specifications and dimensions Working Voltage: DC 5V Working Current: 15mA Working Frequency: 40Hz Max Range: 4m Min Range: 2cm Measuring Angle: 15 degree Trigger Input Signal: 10µS TTL pulse Echo Output Signal Input TTL lever signal and the range in proportion Dimensions: 45 * 20 * 15mm
Software Design - Ultrasonic Sensors
<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
<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>
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 ===