Difference between revisions of "F16: Thunderbolt"

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Revision as of 22:15, 1 November 2016

Project Title

Thunderbolt - a self driving RC car

Abstract

This section should be a couple lines to describe what your project does.

Objectives & Introduction

Show list of your objectives. This section includes the high level details of your project. You can write about the various sensors or peripherals you used to get your project completed.

Team Schedule

Color Legends :

  • Common to all modules
  • Master Controller
  • Motor Controller
  • Sensor Controller
  • Geographical Controller
  • Communication Bridge
Sr No Start Date End Date Task Status Problems/Delays if any
1 09/14/2016 09/20/2016
  • Read previous reports to understand the working of the entire project
  • Individual module distribution
Completed
2 09/21/2016 09/27/2016
  • Set up Git
  • Create project report template on Wiki
  • Understanding the motor and PWM concept
 Completed
3 09/28/2016 10/04/2016
  • Study previous reports to decide on components to be ordered and to get an idea about the flow
  • Order the components
  • Testing Servo and DC motor using RC Transmitter and Receiver
  • Development of basic android app for one directional Bluetooth communication
 Completed
4 10/05/2016 10/11/2016
  • Follow-up on the ordered parts and Order the remaining components
  • Development of basic android app for plotting Google Map route between two points
  • Testing of Bluetooth Module with SJ-One Board using available Bluetooth app on Android app store
Completed
5 10/12/2016 10/18/2016
  • Follow-up on the ordered parts
  • Create branches in Git
  • Decide/Develop the CAN message ID and node address for all controllers
  • Testing and interfacing of servo and DC motor with SJOne Board
  • Sensor Data Sheet Review with team
 Completed
6 10/19/2016 10/25/2016
  • Follow-up on the ordered parts
  • Design the CAN message ID and node address for all controllers based on the priority level
  • Design the DBC file consisting of the signals from all the modules
  • Integrate the Bluetooth module with the Master controller over CAN bus
  • Understanding the RPM sensor interfacing
  • Test the Individual sensors to get accurate measurements according to data sheet
  • Determine pins and architecture of board for sensor controller
  • Interface the compass module to SJOne board using I2C communication
  • Bi-directional communication between SJ-ONE Board and Android App
 Completed
7 10/25/2016 11/01/2016
  • Interface the Motor module with the Master controller over CAN bus
  • Design a power circuit on RC car with motors interfaced to SJOne board
  • Develop entire board algorithm for all sensors
  • Develop the algorithms for distance and turn angle calculation
  • Interfacing of GEO controller with Master
  • Interface Android and Bluetooth module with CAN
In Progress
8 11/02/2016 11/08/2016
  • Design the algorithm for navigation and obstacle avoidance in Master controller
  • Interface the sensor controllers with the Master controller over CAN bus
  • Interfacing the Master controller with GPS module
  • Establishing reliable CAN communication for motors with master controller
  • Interfacing of sensors with motors and testing obstacle avoidance
  • Mount all ultrasonic sensors on car and test it
  • Start implementation of CAN bus by testing sending and receiving of messages
  • Calibrate the compass module and testing
9 11/09/2016 11/15/2016
  • Designing of the kill switch
  • Integrating it with the master controller, testing and debugging
  • Complete implementation of the sensor controller with the Master controller over CAN bus
  • Fine-tune algorithms for sensor
  • Interfacing with GPS module using CAN bus for receiving current location
  • Interface GPS module to SJOne board using UART communication
  • Calibrating the GPS and testing
10 11/16/2016 11/22/2016
  • Testing the Master module with all controllers interfaced
  • LCD module interfacing and adding extra features.
  • Test the implementation for multiple sensors and debugging the issue
  • Decide upon additional I/O such as lights
  • Integrating of GPS and compass module
  • Interfacing of GEO controller with Android
  • Integrating com_bridge with entire system
11 11/23/2016 11/29/2016
  • Take care of modifications and shortcomings if any
  • Optimize the code and testing for stability and report
  • Interfacing of GEO controller with LCD
  • Unit Testing of GEO controller and bug fixes and re-calibrate if needed.
  • Testing and bug fixes
12 11/30/2016 12/06/2016
  • Improvise the communication on CAN bus
  • Testing and debugging
  • Android App GUI enhancements and bug fixes
13 12/07/2016 12/13/2016
  • Final testing of Self-Driving Car

Team members and Responsibilities

  • Master Controller
    • Abhishek Singh
    • Saurabh Ravindra Deshmukh
    • Neha Biradar
  • Motor Controller
    • Krishank Mehta
    • Neha Biradar
    • Saurabh Ravindra Deshmukh
  • GPS/Compass Module
    • Samiksha Ambekar
    • Virginia Menezes
    • Neha Biradar
  • Sensors
    • Arthur Nguyen
    • Rajeev Sawant
    • Samiksha Ambekar
  • Bluetooth
    • Abhishek Singh
    • Nikhil Namjoshi
  • Android Application
    • Nikhil Namjoshi
    • Saurabh Ravindra Deshmukh

Parts List & Cost

Item# Part Desciption Vendor Qty Cost
1 RC Car given by Preet
2 Bluetooth hc 05 Amazon 1 $3.21
3 Sonar Sensor Maxbotix EZ1 MB 1010
4 SparkFun Venus GPS with SMA Connector https://www.sparkfun.com/products/11058 1 $49.95
5 Compass (CMPS11) https://acroname.com/products/r375-cmps11?sku=R375-CMPS11 1 $45.95
6 Antenna GPS Embedded SMA https://www.sparkfun.com/products/177 1 $11.95

DBC File

The DBC file implementation can be accessed at the following link:

https://gitlab.com/singh.abhishek21/Thunderbolt_CMPE243/blob/master/243.dbc

Master Controller

Schedule

Sr No Start Date End Date Task Status Actual Completed Date
1 10/12/2016 10/18/2016
  • Decide/Develop the CAN message ID and node address for all controllers
 Completed
2 10/19/2016 10/25/2016
  • Integrate the Bluetooth module with the Master controller over CAN bus
Completed
3 10/25/2016 11/01/2016
  • Interface the Motor module with the Master controller over CAN bus
 Completed
4 11/02/2016 11/08/2016
  • Design the algorithm for navigation and obstacle avoidance
  • Interface the sensor controllers with the Master controller over CAN bus
  • Interfacing the Master controller with GPS module
 In Progress
5 11/09/2016 11/15/2016
  • Designing of the kill switch
6 11/16/2016 11/22/2016
  • Testing the Master module with all controllers interfaced
7 11/23/2016 11/29/2016
  • Take care of modifications and shortcomings if any
8 11/30/2016 12/06/2016
  • Improvise the communication on CAN bus
9 12/07/2016 12/13/2016
  • Final Testing of self driving car

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which Buses used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Sensor Controller

Group Members

  • Arthur Nguyen
  • Rajeev Sawant

Schedule

Sr No Start Date End Date Task Status Actual Completion Date
1 10/04/2016 10/10/2016
  • Choose appropiate components
  • Read through wiki to find out components used in earlier projects.
  • Ordered additional ultrasonic sensors.
 Complete
2 10/11/2016 10/17/2016
  • Sensor Data Sheet Review with team.
  • Follow up on ordered parts
 Complete
3 10/18/2016 10/24/2016
  • Test the Individual sensors to get accurate measurements according to data sheet
  • Determine pins and architecture of board
 Complete
4 10/25/2016 10/31/2016
  • Develop entire board algorithm for all sensors
5 11/01/2016 11/07/2016
  • Mount all ultrasonic sensors on car and test it
  • Start implementation of CAN bus by testing sending and receiving of messages
6 11/08/2016 11/14/2016
  • Complete implementation of the sensor controller with the Master controller over CAN bus
  • Fine-tune algorithms for sensor.
7 11/15/2016 11/21/2016
  • Test the implementation for multiple sensors and debugging the issue.
  • Decide upon additional I/O such as lights
8 11/22/2016 11/29/2016
  • Optimize the code and testing for stability and report.

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Motor & I/O Controller

Group Members

  • Krishank Mehta
  • Saurabh Deshmukh

Schedule

Sr No Start Date End Date Task Status Actual Completed Date
1 9/19/2016 9/24/2016
  • Understanding the motor and PWM concept.
 Completed 9/25/2016
2 10/4/2016 10/5/2016
  • Testing Servo and DC motor using RC Transmitter and Receiver.
 Completed 10/5/2016
3 10/7/2016 10/10/2016
  • Testing and interfacing of servo and DC motor with SJOne Board
 In Progress
4 10/11/2016 10/18/2016
  • Design of CAN message ID for motor controller.
5 10/20/2016 10/24/2016
  • LCD module programming and understanding the RPM sensor interfacing.
6 10/26/2016 10/28/2016
  • Design a power circuit on RC car with motors interfaced to SJOne board.
  • Integrating speed sensor.
7 11/01/2016 11/08/2016
  • Establishing reliable CAN communication for motors with master controller.
8 11/15/2016 11/18/2016
  • Interfacing of sensors with motors and testing obstacle avoidance .
9 11/18/2016 11/22/2016
  • Integrating it with the master controller, testing and debugging

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Geographical Controller

Group Members

  • Samiksha Ambekar
  • Virginia Menezes

Schedule

Sr No Start Date End Date Task Status Problems/Delay if any
1 09/14/2016 09/20/2016
  • Study previous reports to research which components to order
Completed
2 09/21/2016 09/27/2016
  • Git and wiki report setup
 Completed
3 09/28/2016 10/04/2016
  • Order GPS module, Compass and antenna
Completed
4 10/05/2016 10/11/2016
  • Follow-up on ordered parts
 Completed
5 10/12/2016 10/18/2016
  • Developing the DBC File format for signals between GEO controller and Master, Android app and IO
 Completed
6 10/19/2016 10/25/2016
  • Interface the compass module to SJOne board using I2C communication
Completed
7 10/26/2016 11/01/2016
  • Develop the algorithms for distance and turn angle calculation
  • Interfacing of GEO controller with Master
 Completed
8 11/02/2016 11/08/2016
  • Calibrate the compass module and testing
In Progress
9 11/09/2016 11/15/2016
  • Interface GPS module to SJOne board using UART communication
  • Calibrating the GPS and testing
10 11/16/2016 11/22/2016
  • Integrating of GPS and compass module
  • Interfacing of GEO controller with Android
11 11/23/2016 11/29/2016
  • Interfacing of GEO controller with LCD
  • Unit Testing of GEO controller and bug fixes and re-calibrate if needed.
12 11/30/2016 12/06/2016
  • Testing of GEO controller with other modules and re-calibration, if required |
13 12/07/2016 12/13/2016
  • Final Testing

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

GPS Module: Readytosky Ublox NEO-M8N

This GPS module uses UART serial communication interface. The refresh rate ranges from 1Hz up to 10Hz with a default baud rate of 9600bps. This module is an updated version to the Ublox NEO-M7N which brings improved accuracy of up to 0.9 meters using its build in antenna.

Specifications:

  • Power Supply:DC Voltage 2.8V~6.0V
  • Power Consumption: 50mA@5V
  • Support for GPS,GLONASS,Galileo,BeiDou,QZSS and SBAS
  • 72 Searching Channel
  • Receiving Sensitivity:Trace -167dBm, Capture-148dBm
  • Positioning Time:Cold Start:avg26s, Warm Start:avg25s, Hot Start:avg3s
  • positioning accuracy:2m At Open Wind
  • Output Frequency:1Hz-10Hz,Default 1Hz
  • Speed accuracy:0.1 m/s (Without Aid)
  • Acceleration accuracy:0.1 m/s (Without Aid)
  • Dynamic Characteristics:Max Height:18000m, Max Speed:515m/s, Max Acceleration:4G
  • UART Interface:UART Port:TXDA and RXDA
  • Support Rate:4800bps to 115200bps,Default 9600dps
  • Working Temperature:-40℃-+85℃
  • Storage Temperature:-40℃-+85℃
  • Diameter:45mm
  • Height:6mm
  • Weight:10g
  • 6pins 1.25mm port


GPS Connector Definition:

  • GND,
  • TX,data output
  • RX,data intput
  • VCC,2.8V-6V

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Communication Bridge Controller

Group Members

  • Nikhil Namjoshi
  • Saurabh Deshmukh

Schedule

Sr No Start Date End Date Task Status Actual Completed Date
1 9/27/2016 10/4/2016
  • Decide the Bluetooth module and purchase it.
  • Search online and read previous projects wikipedia pages.
 Complete 10/4/2016
2 10/6/2016 10/8/2016
  • Testing of Bluetooth Module with SJ-One Board using available bluetooth app on Android app store
 Complete 10/8/2016
3 9/30/2016 10/2/2016
  • Development of basic android app for one directional bluetooth communication.
 Complete 10/2/2016
4 10/2/2016 10/6/2016
  • Development of basic android app for plotting Google Map route between two points.
 Complete 10/6/2016
5 10/10/2016 10/25/2016
  • Bi-directional communication between SJ-ONE Board and Android App.
 In Progress
6 10/25/2016 11/2/2016
  • Interface android module with CAN
 Completed 10/31/2016
7 11/3/2016 11/11/2016
  • Interfacing with GPS module using CAN bus for receiving current location.
8 11/12/2016 11/23/2016
  • Integration with Master through CAN bus.
9 11/26/2016 12/5/2016
  • Android App GUI enhancements and bug fixes.

Design & Implementation

The design section can go over your hardware and software design. Organize this section using sub-sections that go over your design and implementation.

Hardware Design

Discuss your hardware design here. Show detailed schematics, and the interface here.

Hardware Interface

In this section, you can describe how your hardware communicates, such as which BUSes used. You can discuss your driver implementation here, such that the Software Design section is isolated to talk about high level workings rather than inner working of your project.

Software Design

Show your software design. For example, if you are designing an MP3 Player, show the tasks that you are using, and what they are doing at a high level. Do not show the details of the code. For example, do not show exact code, but you may show psuedocode and fragments of code. Keep in mind that you are showing DESIGN of your software, not the inner workings of it.

Implementation

This section includes implementation, but again, not the details, just the high level. For example, you can list the steps it takes to communicate over a sensor, or the steps needed to write a page of memory onto SPI Flash. You can include sub-sections for each of your component implementation.

Testing & Technical Challenges

Describe the challenges of your project. What advise would you give yourself or someone else if your project can be started from scratch again? Make a smooth transition to testing section and described what it took to test your project.

Conclusion

Conclude your project here. You can recap your testing and problems. You should address the "so what" part here to indicate what you ultimately learnt from this project. How has this project increased your knowledge?

Project Video

Upload a video of your project and post the link here.

Project Source Code

References

Acknowledgement

Any acknowledgement that you may wish to provide can be included here.

References Used

List any references used in project.

Appendix

You can list the references you used.

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