S23: CAN CLAN

1 Project Title
2 Abstract
- 2.1 Introduction
- 2.2 Team Members & Responsibilities
3 Schedule
4 Parts List & Cost
5 Printed Circuit Board
6 CAN Communication
- 6.1 Hardware Design
- 6.2 DBC File
7 Sensor ECU
8 Motor ECU
9 Geographical Controller
10 Communication Bridge Controller & LCD
11 Master Module
12 Mobile Application
13 Conclusion

Project Title

Abstract

<2-3 sentence abstract>

Introduction

The project was divided into N modules:

Sensor ...
Motor..
...
Android

Team Members & Responsibilities

Gitlab Project Link - [1]

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	03/01/2023	03/07/2023	Read previous projects, gather information and discuss among the group members. Discuss each team-member's preference and assign controller roles Create parts list for the RC car, discuss, and decide on each item	Completed
2	03/08/2023	03/14/2023	Order all parts from list and save tracking/price info	Completed
3	03/15/2023	03/21/2023	Design interface for Bridge and Sensor Controller, with unit tests Design interface for Motor Controller, with unit tests Design interface for Driver and LCD Controller, with unit tests Integrate Bridge/Sensor Controller to CAN bus with DBC, handling messages Integrate Motor Controller to CAN bus with DBC, handling messages Integrate Driver Controller to CAN bus with DBC, handling messages All parts received	Completed
4	03/22/2023	03/28/2023	Design interface for GEO Controller, with unit tests Integrate Geological Controller to CAN bus with DBC, handling messages Integrate Ultrasonic sensor with SJ2 to verify distance from obstacle is sensed Integrate Motor and Steering with PWM control, figure out the working ranges Integrate GPS sensor with SJ2, get GPGGA strings over UART, parse current coordinates	Completed
5	03/29/2023	04/04/2023	Integrate Compass sensor with SJ2 board over I2C and get bearing values Connect all nodes together on the CAN bus, verify messages across all nodes Code the Haversine formula into GEO controller to get distance and heading based on current and destination coordinates Write driver logic based on distance and heading from GEO and obstacle details from sensor nodes Integrate GPS and Compass peripherals, writing the driver and unit tests MILESTONE - All individual modules considered "Roughly Working" with hardware interfaced	Completed
6	04/05/2023	04/11/2023	Finalise the DBC file for project Create a detailed schedule for remaining tasks, dividing work into four milestones Work on calibrating compass sensor to get accurate bearing readings Start RPM sensor logic implementation and add it to Motor controller Integrate Bluetooth module to Bridge/Sensor controller, with UART logic Have Driver node process GPS position/heading/bearing messages and incorporate in the driver logic Complete RPM sensor and integrate with Motor controller for reliable PID control MILESTONE - Basic car driving ability with basic obstacle avoidance	Uncompleted
7	04/12/2022	04/18/2022	Integrate Android app with Bridge/Sensor controller, sending/receiving messages both ways Mobile app can send coordinates to Bridge controller* Connect Android app to Bridge/Sensor controller, send test message Create a on-board battery power supply for all components Complete the Compass I2C integration and read values from the peripheral Have PWM signals reliably controlling the motor speed, start working "backwards driving mode" Interface LED ring on the Driver controller and display heading direction MILESTONE - Integrated, reliably "heading" towards provided destination bearing, basic obstacle avoidance	Incomplete
8	04/19/2023	04/25/2023	3D print sensor housings, mounting for the whole platform Design and solder the prototype board with all SJTwo boards Add data to display on the LCD screen Outdoor testing for longer range trips, and complete necessary enhancements MILESTONE - Integration part 2, perform obstacle avoidance and destination bearing	Incomplete
9	04/26/2023	05/02/2023	Verify that the electrical and mechanical work is complete MILESTONE - Integration and outdoor testing, adding necessary software changes	Incomplete
10	05/03/2023	05/09/2023	enable the Headlights to the car MILESTONE - Integration testing, deal with uneven terrain, reliable waypoints navigation and obstacle avoidance	Incomplete
11	05/10/2023	05/16/2023	Full System Testing, any needed Hardware and software fixes and optimizing	Incomplete
11	05/24/2023	05/24/2023	Final Project Demo Day	Incomplete

Parts List & Cost

Item#	Part Description	Vendor	Qty	Cost
1		Redcat []	1	$
2	SN65HVD23 CAN Transceivers	Waveshare[2]	5	$
3	HRLV-EZ0 Ultrasonic Sensors	[]	3	$
4		[]	1	$17.50
5		[]	1	$59.50
6		[]	1	$33.18
7		[]	1	$5.99
9		[]	1	$7.00

Printed Circuit Board

CAN Communication

Hardware Design

DBC File