Self driving car - Revision history

Aplstudent: /* =Computer Vision */

2019-02-04T22:03:23Z

‎=Computer Vision

Aplstudent at 22:03, 4 February 2019

2019-02-04T22:03:14Z

Aplstudent: /* Getting Started */

2018-12-03T23:31:40Z

‎Getting Started

Aplstudent: /* Completed So Far */

2018-12-02T23:41:36Z

‎Completed So Far

Aplstudent: /* Completed So Far */

2018-12-02T23:40:59Z

‎Completed So Far

Aplstudent: /* To Do */

2018-12-02T23:37:44Z

‎To Do

Aplstudent: /* Completed So Far */

2018-12-02T23:37:11Z

‎Completed So Far

Aplstudent: /* Getting Started */

2018-12-02T23:36:18Z

‎Getting Started

Aplstudent: /* Getting Started */

2017-06-09T18:44:06Z

‎Getting Started

Aplstudent: /* Getting Started */

2017-06-09T18:43:04Z

‎Getting Started

@@ Line 40: / Line 40: @@
 Coding: So far code has been written to make the car go forward, backward, turn left, turn right, and turn back middle as well as retrieve data from some of the sensors. All of this code is stored in the mirror directory under the names pulse_forward.py pulse_backward.py pulse_right.py pulse_left.py and turnsignal.py(turns the wheels back middle). To call these in the terminal you enter sudo python pulse_forward.py. Sometimes it will ask for a password, you will soon learn the password. Be careful when calling these files because if you use pulse_forward.py you need to be ready for the car to start going forward. Code has also been written to retrieve data from some of our sensors in a way such the data can eventually be easily manipulated for further use. These are accel.py and gpsdata.py for the accelerometer and GPS. These can also be found in the mirror directory (Note the sensors must be set up correctly using the correct pins on the Raspberry Pi for the code to work). It is advised with all this code that you look over it and understand what all of the little pieces are doing before running them. Some of them have notes in them briefly explaining what they do.
-===[[Computer Vision]]==
+===[[Computer Vision]]===
 Code for the Raspberry Pi camera has also been written and is discussed in the Computer Vision subsection and can be accessed here ([[Computer Vision]]).

← Older revision		Revision as of 22:03, 4 February 2019
Line 39:		Line 39:

	Coding: So far code has been written to make the car go forward, backward, turn left, turn right, and turn back middle as well as retrieve data from some of the sensors. All of this code is stored in the mirror directory under the names pulse_forward.py pulse_backward.py pulse_right.py pulse_left.py and turnsignal.py(turns the wheels back middle). To call these in the terminal you enter sudo python pulse_forward.py. Sometimes it will ask for a password, you will soon learn the password. Be careful when calling these files because if you use pulse_forward.py you need to be ready for the car to start going forward. Code has also been written to retrieve data from some of our sensors in a way such the data can eventually be easily manipulated for further use. These are accel.py and gpsdata.py for the accelerometer and GPS. These can also be found in the mirror directory (Note the sensors must be set up correctly using the correct pins on the Raspberry Pi for the code to work). It is advised with all this code that you look over it and understand what all of the little pieces are doing before running them. Some of them have notes in them briefly explaining what they do.		Coding: So far code has been written to make the car go forward, backward, turn left, turn right, and turn back middle as well as retrieve data from some of the sensors. All of this code is stored in the mirror directory under the names pulse_forward.py pulse_backward.py pulse_right.py pulse_left.py and turnsignal.py(turns the wheels back middle). To call these in the terminal you enter sudo python pulse_forward.py. Sometimes it will ask for a password, you will soon learn the password. Be careful when calling these files because if you use pulse_forward.py you need to be ready for the car to start going forward. Code has also been written to retrieve data from some of our sensors in a way such the data can eventually be easily manipulated for further use. These are accel.py and gpsdata.py for the accelerometer and GPS. These can also be found in the mirror directory (Note the sensors must be set up correctly using the correct pins on the Raspberry Pi for the code to work). It is advised with all this code that you look over it and understand what all of the little pieces are doing before running them. Some of them have notes in them briefly explaining what they do.
		+
		+	===[[Computer Vision]]==

	Code for the Raspberry Pi camera has also been written and is discussed in the Computer Vision subsection and can be accessed here ([[Computer Vision]]).		Code for the Raspberry Pi camera has also been written and is discussed in the Computer Vision subsection and can be accessed here ([[Computer Vision]]).

← Older revision		Revision as of 23:31, 3 December 2018
Line 2:		Line 2:

	== Getting Started ==		== Getting Started ==
		+	Note: All files are currently on the top Raspberry Pi labeled "Master", use this Raspberry Pi for all the following steps.
		+
	First: Make sure the power is on. The cable to power the raspberry pi is a microusb. Any usb port should provide power to the pi.		First: Make sure the power is on. The cable to power the raspberry pi is a microusb. Any usb port should provide power to the pi.

@@ Line 38: / Line 38: @@
 Coding: So far code has been written to make the car go forward, backward, turn left, turn right, and turn back middle as well as retrieve data from some of the sensors. All of this code is stored in the mirror directory under the names pulse_forward.py pulse_backward.py pulse_right.py pulse_left.py and turnsignal.py(turns the wheels back middle). To call these in the terminal you enter sudo python pulse_forward.py. Sometimes it will ask for a password, you will soon learn the password. Be careful when calling these files because if you use pulse_forward.py you need to be ready for the car to start going forward. Code has also been written to retrieve data from some of our sensors in a way such the data can eventually be easily manipulated for further use. These are accel.py and gpsdata.py for the accelerometer and GPS. These can also be found in the mirror directory (Note the sensors must be set up correctly using the correct pins on the Raspberry Pi for the code to work). It is advised with all this code that you look over it and understand what all of the little pieces are doing before running them. Some of them have notes in them briefly explaining what they do.
-Code for the Raspberry Pi camera has also been written and is discussed in the Computer Vision subsection [[Computer Vision]].
+Code for the Raspberry Pi camera has also been written and is discussed in the Computer Vision subsection and can be accessed here ([[Computer Vision]]).
 == To Do ==

@@ Line 36: / Line 36: @@
 Circuitry: The Raspberry Pi's power the motors of the RC car through an H-bridge. The main components of the H-bridge are the four FET transistors. This set up takes a Pulse Width Modulation Signal from the Raspberry Pi and, based on what kind of pulse is sent, draws the proper amount of power from the battery and sends it to the motor in either the forwards or backwards direction (so the car can move both forwards and backwards as well as both left and right). The circuit for that is [http://www.bristolwatch.com/ele/h_bridge.htm here.] The second large circuit that is set up is for the analog to digital converter. The front motor of the Raspberry Pi sends an analog signal back out which shows which way the wheels are facing. This information is necessary to get back to The Raspberry Pi so that it is possible to turn the wheels such that they are facing directly forwards. However, Raspberry Pi's have no analog input, just digital, so the converter is necessary. [https://circuitdigest.com/fullimage?i=circuitdiagram_mic/Interfacing-ADC0804-with-Raspberry-Pi-circuit-diagram.png Here] is a diagram of the circuit. The converter takes the analog signal and converts it to an 8-bit digital signal which the Pi can interpret and work with.
 Coding: So far code has been written to make the car go forward, backward, turn left, turn right, and turn back middle as well as retrieve data from some of the sensors. All of this code is stored in the mirror directory under the names pulse_forward.py pulse_backward.py pulse_right.py pulse_left.py and turnsignal.py(turns the wheels back middle). To call these in the terminal you enter sudo python pulse_forward.py. Sometimes it will ask for a password, you will soon learn the password. Be careful when calling these files because if you use pulse_forward.py you need to be ready for the car to start going forward. Code has also been written to retrieve data from some of our sensors in a way such the data can eventually be easily manipulated for further use. These are accel.py and gpsdata.py for the accelerometer and GPS. These can also be found in the mirror directory (Note the sensors must be set up correctly using the correct pins on the Raspberry Pi for the code to work). It is advised with all this code that you look over it and understand what all of the little pieces are doing before running them. Some of them have notes in them briefly explaining what they do.
 == To Do ==

@@ Line 45: / Line 45: @@
 Sonar: When we tested the sonar it had a range of about 1 meter before the data got to gargled. In general though the data is pretty noisy. One solution would be to write code that acts as a high/low pass filter for the times the sensor goes way off track.
-Optical Sensor: The final sensor we would like our car to have is some sort of optic sensor. A design for the sensor still needs to be drawn up and then constructed and attached to the RC.
+Slave-Master: The RP's should be setup in a slave/master pair. The master node will connect all our sensors and will run the majority of our code. The slave node will be used to enhance the computing power of the master node. The two should be hooked up through a WiFi signal.
 Machine Learning: We have code written code that moves the car forward and backwards as well as turn the wheels left, right, and back to the center. The next step in the coding process is to begin experimenting with machine learning code so that the car can attempt to drive itself.

← Older revision		Revision as of 23:37, 2 December 2018
Line 20:		Line 20:

	Raspberry Pi's (RP): For this project we have two RP's that will connect all our sensors, process their input, and make decisions on where to go, when to stop, when to turn, etc.		Raspberry Pi's (RP): For this project we have two RP's that will connect all our sensors, process their input, and make decisions on where to go, when to stop, when to turn, etc.
−
−	Slave-Master: The RP's are setup in a slave/master pair. The master node will connect all our sensors and will run the majority of our code. The slave node will be used to enhance the computing power of the
−	~~master node. The two are hooked up through a WiFi signal.~~

	WiFi enabled: Currently the RP's are configured to automatically send out a WiFi signal on start up. From this signal we can connect to the RP's from any WiFi enabled device (right now we are using a laptop). Code is located on rpbot0 (/usr/local/bin/WAP2.sh). You will need to understand basic cron and bash code.		WiFi enabled: Currently the RP's are configured to automatically send out a WiFi signal on start up. From this signal we can connect to the RP's from any WiFi enabled device (right now we are using a laptop). Code is located on rpbot0 (/usr/local/bin/WAP2.sh). You will need to understand basic cron and bash code.

@@ Line 4: / Line 4: @@
 First: Make sure the power is on. The cable to power the raspberry pi is a microusb. Any usb port should provide power to the pi.
-Second: Connect a device to have wireless access to the cluster (we used a laptop). This device will not be part of the cluster but will be able to access cluster resources. All you have to do is "nano /etc/hosts" for every single slave Pi and the master Pi and the connection device (this could be any device with wifi). Every host file needs to have the IP addresses and name of every single computer in the cluster (rpbot0 & rpbot1 for now) and the IP address and name of the connection device. For simplicity, just use the laptop provided. Follow this step when you want to upgrade to a faster device.
+Second: Connect a device to have wireless access to the cluster (we used a laptop). This device will not be part of the cluster but will be able to access cluster resources. All you have to do is "nano /etc/hosts" for every single slave Pi and the master Pi and the connection device (this could be any device with wifi). Every host file needs to have the IP addresses and name of every single computer in the cluster (rpbot0 & rpbot1 for now) and the IP address and name of the connection device.
-Third: Getting into the pi. After a minute of having the power the pi should be sending out a WiFi signal called rpbot_spot get in using the usual password. From there, open up a command prompt and type in ssh rpbot0.
+Third: Getting into the pi. Connecting via wifi requires finding the Raspberry Pi's wifi (rpbot_spot) and connecting, then using the command line typing " ssh rpbot0 -l rpbot0 -p 22" this should prompt you with a password which is the usual APL password.
-Fourth: For the moment we are storing all our code in the /mirror directory, all future downloads and novel code should be in this directory. The mirror directory is part of the multinode set up on our system. Any changes to one mirror directory should change the mirror directory in the other node.
+Fourth: For the moment we are storing all our code in the /Mirror directory, all future downloads and novel code should be in this directory. The mirror directory is designed to be part of the multinode set up on our system. Any changes to one mirror directory should change the mirror directory in the other node. This functionality has not yet been implemented.
 Fifth: Make sure everything is wired correctly. Some of the circuits have links describing what they should look like, but here is a brief description of all that should be connected as of now. First, from the Raspberry Pi are five wires that go into our two H-bridges, a common ground and two control wires each. Exactly which wires is found in the code for driving and turning the car. These wires go directly behind the resistors on the side of the breadboard with less FETs. From each H-bridge are the power and ground for the two motors which connect to the long row of pins starting on the left if you are facing the car from the front and go power for the thrust motor, skip a pin, ground for the thrust motor, skip a pin, power for the turning motor, skip a pin, ground for the turning motor. Second is the analog to digital converter circuit which has a ton of wires, but is very well described further down on this page. Next is the GPS which is a USB that plugs into the Raspberry Pi's and has four wires coming out of it that connect to the pins which connect to the chip. The wires should be on every other pin and if you are looking at the car from the front then they go from left to right in the order white, green, black, red. The final piece currently hooked up is the accelerometer which uses the pins to the right of the chip (again if you are looking from the front). In order from closest to the Raspberry Pi to furthest they go purple, white, red. Where they go on the Raspberry Pi can be found in the code, accel.py.

@@ Line 14: / Line 14: @@
 IMPORTANT: Do not close the laptop or shut it down with the Raspberry Pi connected. If you want to disconnect the Raspberry Pi or close or turn off the computer, run the command sudo shutdown -h while ssh'd into the Raspberry Pi. Then wait for the Wi-fi signal to disconnect thus signalling a proper shutdown of the Raspberry Pi.
 !!!!WARNING!!!!
--> Use FSCK to fix raspberry pi (and other Ubuntu OP systems) if the pi becomes corrupted due to improper shutdown procedure. FSCK is a built in tool that is very dangerous! YOU CAN CORRUPT THE ENTIRE SYSTEM! Carefully read about the -a and -A flags and how one of them can ruin the entire project.
+-> Use FSCK to fix raspberry pi (and other Ubuntu OP systems) if the pi becomes corrupted due to improper shutdown procedure. FSCK is a built in tool that is very dangerous! YOU CAN CORRUPT THE ENTIRE SYSTEM! Carefully read about the -a and -A flags and how one of them can ruin the entire project. You also need to be careful where (in terms of directory) you implement the FSCK command.
 !!!!WARNING!!!!!

← Older revision		Revision as of 18:43, 9 June 2017
Line 13:		Line 13:

	IMPORTANT: Do not close the laptop or shut it down with the Raspberry Pi connected. If you want to disconnect the Raspberry Pi or close or turn off the computer, run the command sudo shutdown -h while ssh'd into the Raspberry Pi. Then wait for the Wi-fi signal to disconnect thus signalling a proper shutdown of the Raspberry Pi.		IMPORTANT: Do not close the laptop or shut it down with the Raspberry Pi connected. If you want to disconnect the Raspberry Pi or close or turn off the computer, run the command sudo shutdown -h while ssh'd into the Raspberry Pi. Then wait for the Wi-fi signal to disconnect thus signalling a proper shutdown of the Raspberry Pi.
		+	!!!!WARNING!!!!
		+	-> Use FSCK to fix raspberry pi (and other Ubuntu OP systems) if the pi becomes corrupted due to improper shutdown procedure. FSCK is a built in tool that is very dangerous! YOU CAN CORRUPT THE ENTIRE SYSTEM! Carefully read about the -a and -A flags and how one of them can ruin the entire project.
		+	!!!!WARNING!!!!!

	== Completed So Far ==		== Completed So Far ==