ARC SolutionsTHE FREESCALE CUP: AUTONOMOUS RC CAR RACINGPRESENTED BY: VITO CAPPELLO AND NIGEL J. NAVARRO
The Vision and Inspiration• Paving the way for the future of vehicle design• Cars having the ability to drive themselves with little no input from a user.• Automatic obeying of traffic laws• Automatic enforcement of speed restrictions• Collision detection and prevention• Sudden danger avoidance• Before all of this, we needed to understand what it meant for something tobe autonomous… something that drives and reacts on its own.
The Freescale Cup• Provides that solution by providinga competition• Students from all over the worldattempt to make an autonomousRC car• The RC car is required to follow ablack line on a winding course asfast as possible• Requires the use of a power controlboard, a 128-bit one dimensionalline scan camera, and a Freescalemicrocontroller of our choice.• Also requires a lot of C coding. Alot.
The Lowdown (continued)
Accomplishments Over the Quarter• Assembly of an RC Car with camera, power board, and micrcontrollermounting.• Smooth integration of line-scan camera, DC motors, and servo motorthrough C coding.• Research and development of PID control.• Research and development of lighting hardware to increase accuracy ofthe line-scan camera.• Power management and consideration for Hardware implementation.• Project management through various tools and skill considerations.
Potential Future Design• Better research and implementation ofthe Proportional, Integral, andDerivative Control Loop Logic.• Design considerations for other piecesof hardware, such as an additional linescan camera, Polulu sensors, andaccelerometer.• Potential use of averaging input data aswell as error calculation to fine tunePID control.• Use of other control logic, such asFUZZY.• Use of a different development boardsuch as the Freedom Board
Understanding Project Management• Used various tools to help keep the project on track• Jira – Used for creating sprints and other sub-tasks to effectivelymanage the workload of the project.• Confluence – To help consistently update others about current projectprogress and show off of the design.• Microsoft Project – To help in understanding the overview of theproject as well as differentiate between major and minor tasks withinthe set timeframe.• The basics of project management:• The Overview – Understanding the scale of the project• The Planning – Splitting the project into various tasks with variousstrict deadlines• The Execution – Completing the project in whatever style necessary tocomplete the tasks• The Adaption – Constantly monitoring and improving the plan in orderto meet the deadline• The Conclusion – Finalizing and finishing the last touches on theproject
Our Opinion About the Project• Competition was on Week 8 and Imagine RIT Week 9. Gave us a realistictime frame and thus more motivation to work on the project.• Seemed pretty simple at first… we were very wrong (NOT plenty of time…).• Constant tuning of the vehicle was the main focus of the design once PIDwas implemented.• Understanding how and when the camera took in data, how to smoothen outthe data, and then have the car react to the data was a very long andtedious process. It was quite stressful and takes a copious amount of timeand patience.• The constant testing and live demos of the working vehicle were quiterewarding, and so the project seemed very worthwhile.• Overall, we loved the project, and we love what the project stood for.
What We Would Change if We Did it Again• Consistently document which versions of our codeworked great before we heavily modified it (Revisionnumbers and a document explaining the differencesbetween all revisions).• Effectively manage our time allocated for theproject.• Create an easier way to alter constants on the fly(wireless, UART, etc.).
Tips for Anyone Who Picks Up the Project• Start early. Way early. You’ll need as much time as you can to perfectthe tuning of the vehicle.• Make sure to consistently document the changes you make. Knowingwhat you’ve changed, where you went wrong, is vital.• Constantly utilize all the resources around you. The professors herehave a wealth of knowledge. Grab as much of it as you can!• Sleep spend your hours in the lab and bother Prof. Mondragon all the time (he isalways almost always in his office, but it may take him a pico-second or two.
THANK YOU!Thanks for paying attention to our presentation!This project has been quite the ride! Any questions?