FREESCALE CUP:Autonomous Race Car Team #4 | CAN.do  Shalom Greene Ronald Kaung Myat                      1
Project Intro & Demo                       2
Original Product Vision Autonomous light control system for cars A plug-in system for vehicles to allow for automatic tu...
Modified Product Vision Create an autonomous race car  Ability to race along any course provided clear start/stop   cond...
Modified Product Vision (Cont.)                                  5
Differentiation between our Two Visions Our original product vision presented an issue for testing  conditions so we deci...
Final Product…(for now) Autonomous Car that races a track given a line to scan  Uses a line scan camera to interface wit...
Project Management Methodologies  Traditional project management   Initiation – Defining project scope   Planning – Ass...
Roadblocks Line Scan Camera    Camera timing    Ambient Lighting Camera Mount    Figuring out mount design adequate f...
What did we learn? Project management skills & tools Format of specification documents Assemble an RC car CodeWarrior ...
Opinion on the Project Felt the Project was something new and something we had not  done in the past Considering there i...
Future Work Better definition of control loop constants  Overall optimization of the control loop algorithm Incorporati...
If we have to do it again… Document as we progressed with each task Spend more time initially figuring out debug methods...
Tips for incoming students Get an overall view of all tasks before getting to the execution  phase is important  Use the...
Questions?             15
                    Thank You!                                 16
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CAN.do presentation

  1. 1. FREESCALE CUP:Autonomous Race Car Team #4 | CAN.do Shalom Greene Ronald Kaung Myat 1
  2. 2. Project Intro & Demo 2
  3. 3. Original Product Vision Autonomous light control system for cars A plug-in system for vehicles to allow for automatic turn signaling and head light activation for low ambient conditions. Was to include: Light sensors Communication with GPS Access to a car’s Control Area Network (CAN) for light controlling 3
  4. 4. Modified Product Vision Create an autonomous race car Ability to race along any course provided clear start/stop conditions and a continuous black guide strip. Implement autonomous features on a small scale, which can be scaled to full model functionality. Autonomous features were to include  automatic lighting depending on ambient conditions, as well as for turn signaling  Turning based on camera/sensor input 4
  5. 5. Modified Product Vision (Cont.) 5
  6. 6. Differentiation between our Two Visions Our original product vision presented an issue for testing conditions so we decided to go with a small scale representation as a proof of concept. Then, we discovered the Freescale Cup and decided to pursue that instead We wanted to be able to use the light automation in our modified product vision as to not completely lose sight of the original vision No CAN used in the modified design No need for GPS 6
  7. 7. Final Product…(for now) Autonomous Car that races a track given a line to scan Uses a line scan camera to interface with a servo motor & dual propulsion DC motors to provide proportional response to input Unfortunately, we did not include any of the lighting features outlined in our product vision. However, it is intended for further design work. 7
  8. 8. Project Management Methodologies  Traditional project management Initiation – Defining project scope Planning – Assign tasks & completion dates Execution – Assembling car & developing code Monitoring – Adapting to road blocks & coming up with solutions Completion – Finalizing project  Project management tools & software Microsoft Project Jira Confluence 8
  9. 9. Roadblocks Line Scan Camera  Camera timing  Ambient Lighting Camera Mount  Figuring out mount design adequate for car base  Matching 3D-Design specification for 3D printer KiwkStik K40  Debug interface is slow Motor Control board  Synching multiple grounds  7.2 voltage supply to 5V input microcontroller 9
  10. 10. What did we learn? Project management skills & tools Format of specification documents Assemble an RC car CodeWarrior for programming on the KwikStik K40 Establish communication and functionality of the various car components Develop a control loop for camera input, steering, and motor speed 3D-Design for prototyping 10
  11. 11. Opinion on the Project Felt the Project was something new and something we had not done in the past Considering there is a competition at the end gives us more incentive to work diligently on the project Stressful at times to manage the project with work and other classes Overall it was a good learning experience and we enjoyed it 11
  12. 12. Future Work Better definition of control loop constants Overall optimization of the control loop algorithm Incorporation of LEDs and light detection for controlled illumination (original product vision) LEDs for turn signaling Logic for turning on lights when ambient lighting is too low Incorporation of a calibration algorithm Addition of secondary camera or IR sensors for interpolation of near and look-ahead conditions Enhancement of mount positions and wiring 12
  13. 13. If we have to do it again… Document as we progressed with each task Spend more time initially figuring out debug methods Refine aspects of project management More frequently update online management tools (Jira/Confluence) Make more use of peer resources 13
  14. 14. Tips for incoming students Get an overall view of all tasks before getting to the execution phase is important Use the project management tools and document along the way Research, Research, & Research… Be diligent when wiring and soldering Utilize your resources (class mates, people working on similar projects, web forums, Prof. Mondragon) 14
  15. 15. Questions? 15
  16. 16.   Thank You!  16

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