S19: Mystery Machine

Project Title

Mystery Machine

Abstract

<2-3 sentence abstract>

Introduction

The project was divided into 6 modules:

• Master Controller
• Sensor Controller
• Geo Controller
• Bridge Controller
• Android Application
• Motor and Steering Controller

Team Members & Responsibilities

<Team Picture>

• Gitlab Project Link

• Master Controller
  • Neeraj Dhavale [Point of Contact]
  • Sudarshan Aithal
  • Chithambaram Singaravelu Poonkodi
  • Tarun Chawla

• Sensor Controller
  • Adithya Baskaran [Point of Contact]
  • Sudarshan Aithal

• Geo Controller
  • Neeraj Dhavale [Point of Contact]
  • Sai Kiran

• Bridge Controller
  • Sanket Patil [Point of Contact]
  • Sai Kiran

• Android Application
  • Chithambaram Singaravelu Poonkodi [Point of Contact]
  • Neeraj Dhavale

• Motor and Steering Controller
  • Tarun Chawla [Point of Contact]
  • Rachit Mathur

• Unit Testing
  • Chithambaram Singaravelu Poonkodi [Point of Contact]

• Documentation
  • Rachit Mathur [Point of Contact]
  • Sai Kiran

Schedule

Week#	Start Date	End Date	Task	Status
1	02/22/2019 02/22/2019 02/22/2019	02/22/2019 02/22/2019 03/01/2019	Read previous projects, gather information and discuss among the group members. Distribute modules to each team member. Make a list for parts required by each ECU	Completed Completed
2	03/01/2019 03/01/2019 03/01/2019 03/01/2019 03/01/2019	03/01/2019 03/08/2019 03/08/2019 03/08/2019 03/08/2019	Timeline of modules' completion discussed Android Application: Upload Project to GitLab and Plot Route to destination with dummy location Bridge Controller: Establish UART to CAN bridge on SJOne board as well as setup and configuration of MQTT Broker on EC2 instance Motor Controller: Understand the working of Electronic Speed Controllers and study previous project reports Sensor Controller: Decide and order the sensors required for Obstacle Avoidance	Completed Completed Completed Completed Completed
3	03/08/2019 03/08/2019 03/08/2019 03/08/2019 03/08/2019	03/10/2019 03/15/2019 03/15/2019 03/13/2019 03/15/2019	Order the RC car and the required Peripherals Android Application: Create base android project with map and display activities GPS Controller: Create an algorithm for the navigation system Bridge Controller: Implementation of basic lightweight web server for WiFi configuration using GUI Motor Controller: Work on the ESC of the RC car and develop algorithm for the Steering Control	Completed Completed Completed Completed Completed
4	03/15/2019 03/15/2019 03/15/2019 03/15/2019	03/15/2019 03/15/2019 03/15/2019 03/15/2019	Android: Get access tokens for Google API to enable maps in the application GPS Controller: Get raw values from MPU9150 IMU sensor Bridge Controller:Implementation of mDNS protocol for discovery of device on local subnet Motor Controller: Tap into the servo motor controlling the steering	Completed Completed Completed Completed
5	03/08/2019 03/08/2019 03/08/2019 03/08/2019 03/08/2019	03/22/2019 03/22/2019 03/22/2019 03/22/2019 03/22/2019	Android: Embed Google maps onto the Android App and add the project to the git repository GPS Controller: Implement driver to get filtered values from the IMU Bridge Controller: Implementation of MQTT Protocol on ESP8266 Pin Layouts from all groups Motor Controller: Tap into the in-built ESC and overclock	Completed Completed Completed Completed
6	03/22/2019 03/22/2019 03/22/2019 03/22/2019 03/22/2019	03/29/2019 03/29/2019 03/29/2019 03/24/2019 03/29/2019	GPS Controller: Send and receive coordinates and other parameters between Car and appS PCB layout 1st Iteration Bridge Controller: Configure ESP8266 (as Wifi-to-serial bridge) to receiver data over Wifi and push it on UART Motor Controller: Find suitable Motor Driver Module and place an order Sensor Controller: Experiment with the different sensors to check for which type works best for the RC Car	Completed Completed Completed Completed
7	03/29/2019 03/29/2019 03/29/2019 03/29/2019	04/05/2019 04/07/2019 04/05/2019 04/05/2019	GPS Controller: Send and receive coordinates and other parameters between Car and appS Bridge Controller: Program for MQTT Client to UART link on ESP8266 module Motor Controller: Find optimal Frequency and PWM values to drive Steering and Rear Wheels Sensor Controller: Obstacle detection with SJ One board	Completed Completed Completed Completed
8	04/05/2019 04/05/2019 04/05/2019 04/05/2019 04/05/2019 04/05/2019	04/09/2019 04/09/2019 04/12/2019 04/12/2019 04/12/2019 04/10/2019	Android: Read the current position and get user input for the destination GPS Controller: Get GPS and COMPASS readings and parse them Bridge Controller: MQTT to UART to CAN Bus Link and Bridge Controller MQTT to Android application Connection Link Master Controller: Define and acquire DBC messages intended for master Motor Controller: Implementation of basic maneuvering of the RC car Sensor Controller: Integration with the RC Car and distance calculation	Completed Completed Completed Completed Completed Completed
9	04/12/2019 04/12/2019 04/12/2019 04/12/2019 04/12/2019 04/12/2019		Android: Configure the UI elements for live monitoring in the app. GPS Controller: Get the destination and waypoints from the Bridge Controller Bridge Controller: Define messages and MQTT topics for bridge to app communication Master Controller: Create a simple program to instruct motor ECU to drive and acquire sensor values to send stop instruction to motor ECU Motor Controller: Implementation of RPM Sensor and integration with CAN Bus Sensor Controller: Final Testing	Completed Completed Completed Completed Completed Completed
10	04/19/2019 04/19/2019 04/19/2019 04/19/2019 04/19/2019		Android: Define the message parameters and packing format for communication between car and app and plot the waypoints for the given coordinates GPS Controller: Calculate Bearing and send navigation instructions to the Master Bridge Controller: Encapsulation and parsing the data from MQTT payload Master Controller: Receive navigation instructions from the GPS Controller and move the car accordingly Motor Controller: Fine tuning of Speed Control and Steering control using PWM duty cycle levels	Completed Completed Completed Completed Completed
11	04/26/2019 04/26/2019 04/26/2019 04/26/2019 04/26/2019		Android: Send coordinates to Car GPS Controller: Mount on the car and start testing on the field and make final changes accordingly Bridge Controller: Display interfacing and Battery monitoring mechanism Master Controller: Create a proper obstacle avoidance algorithm and start the implementation Motor Controller: Optimize control by accelerating / decelerating as instructed by Master Controller
12	05/03/2019 05/03/2019 05/03/2019 05/03/2019 05/03/2019		Android: Add additional commands to the app (stop, reset, reroute) GPS Controller: Final system testing Bridge Controller: Bluetooth to CAN bus interfacing and Final Testing Master Controller: Final testing of obstacle avoidance and navigation Motor Controller: Final Testing
13	05/10/2019		Design and implementation of exterior body
14	05/17/2019		Resolve any issues before Final Demo
15	05/22/2019		FINAL DEMO

Parts List & Cost

Item#	Part Desciption	Vendor	Qty	Cost
1	RC Car	Amazon	1	$90.00
2	CAN Transceivers MCP2551-I/P	AliExpress	8	$1.13/piece

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.

System Nodes: SENSOR, MOTOR, GEO CONTROLLER, BRIDGE, MASTER

Hardware Design

<Show your CAN bus hardware design>

DBC File

<Gitlab link to your DBC file> <You can optionally use an inline image>

---

BO_ 500 SENSOR_CONTROLLER: 18 SENSORS
 SG_ SENSOR_CONTROLLER_Front_US : 0|16@1+ (1,0) [0|100] "%" MASTER
 SG_ SENSOR_CONTROLLER_Front_left_IR : 16|16@1+ (1,0) [0|100] "%" MASTER
 SG_ SENSOR_CONTROLLER_Front_right_IR : 32|16@1+ (1,0) [0|100] "%" MASTER
 SG_ SENSOR_CONTROLLER_Back_IR : 48|16@1+ (1,0) [0|100] "%" MASTER
 
BO_ 600 MOTOR_CONTROLLER: 1 MOTOR
 SG_ MOTOR_CONTROLLER_MOMENTUM : 0|4@1+ (1,0) [0|15] "" MASTER
 SG_ MOTOR_CONTROLLER_TURN : 4|4@1+ (1,0) [0|15] "" MASTER

BO_ 400 MASTER_CONTROLLER: 3 MASTER
 SG_ MASTER_CONTROLLER_LEFT : 0|8@1+ (1,0) [0|15] "" MOTOR
 SG_ MASTER_CONTROLLER_RIGHT : 8|8@1+ (1,0) [0|15] "" MOTOR
 SG_ MASTER_CONTROLLER_STOP : 16|8@1+ (1,0) [0|15] "" MOTOR
 SG_ MASTER_CONTROLLER_START : 24|8@1+ (1,0) [0|15] "" MOTOR

BO_ 700 STEER_DIRECTION: 1 GEO
 SG_ STEER_DIRECTION_LEFT : 0|8@1+ (1,0) [0|0] "STEER LEFT DEGREES" MASTER
 SG_ STEER_DIRECTION_RIGHT : 8|8@1+ (1,0) [0|0] "STEER RIGHT DEGREES" MASTER
 SG_ STEER_DIRECTION_STRAIGHT : 16|8@1+ (1,0) [0|0] "STRAIGHT" MASTER

BO_ 701 TELEMETRY: 2 GEO
 SG_ CURRENT_GPS_COORDINATES_X : 0|32@1+ (0.000001,0) [0|0] "" MASTER,BRIDGE 
 SG_ CURRENT_GPS_COORDINATES_Y : 32|32@1+ (0.000001,0) [0|0] "" MASTER,BRIDGE 

BO_ 710 DESTINATION_REACHED: 1 GEO
 SG_ DESTINATION_REACHED : 0|8@1+ (1,0) [0|0] "" MASTER,BRIDGE

BO_ 800 APP_CMD: 2 BRIDGE
 SG_ START_COMMAND : 0|8@1+ (1,0) [0|0] "" MASTER 
 SG_ ABORT_COMMAND: 8|16@1+ (1,0) [0|0] "" MASTER 
BO_ 801 APP_GPS: 8 BRIDGE
 SG_ DEST_GPS_COORDINATES_X : 0|32@1+ (0.000001,0) [0|0] "" GEO 
 SG_ DEST_GPS_COORDINATES_Y : 32|32@1+ (0.000001,0) [0|0] "" GEO

Sensor ECU

<Picture and link to Gitlab>

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Unreliable sonor sensors

<Problem Summary> <Problem Resolution>

---

Motor ECU

<Picture and link to Gitlab>

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Unreliable Servo Motors

<Problem Summary> <Problem Resolution>

---

Geographical Controller

<Picture and link to Gitlab>

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Unreliable GPS lock

<Problem Summary> <Problem Resolution>

---

Communication Bridge Controller & LCD

<Picture and link to Gitlab>

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Insane Bug

<Problem Summary> <Problem Resolution>

---

Master Module

<Picture and link to Gitlab>

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Improper Unit Testing

<Problem Summary> <Problem Resolution>

---

Mobile Application

<Picture and link to Gitlab>

Software Design

<List the code modules that are being called periodically.>

Technical Challenges

<Bullet or Headings of a module>

Wifi Link Reliability

<Problem Summary> <Problem Resolution>

---

Conclusion

<Organized summary of the project>

<What did you learn?>

Advise for Future Students

<Bullet points and discussion>

References

SNo.	Message ID	Message from Source Node	Receiver Nodes
Sensor Controller Message
1	500	Packs center, left, right and back Ultrasonic sensor values in to CAN Frame	Master
Motor Controller Message
2	600	Packs momentum and turn in to CAN Frame	Master
Geo Controller Message
3	700	Sends Steer direction(Left, Right, Straight)	Master
4	701	Sends GPS Co-ordinates(x,y)	Master, Bridge
5	710	sends the destination reached status	Master, Bridge
Bridge Controller Message
6	800	System start/stop command	Master
7	801	GPS Co-ordinates	Geo
Master Controller Message
8	400	Direction(Left, Right) and STOP or START)	Motor