Line Tracing Car Project

Date: 2024-09-26

Author/Partner:

Github: repository link

Demo Video: Youtube link

PDF version:

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What you need to submit

Read the instruction carefully

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Introduction

Design a simple line tracing RC car that tracks the racing lines that meets the following conditions:

• The car should automatically start at the given signal

• It must trace on the track line

• When it sees an obstacle on the driving path, it should temporarily stop until the obstacle is out of the path

• It has AUTO and MANUAL control mode

There can be more missions to complete.

image

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Requirement

Hardware

• MCU

  • NUCLEO-F411RE

• Actuator/Sensor/Others: Minimum

  • Bluetooth Module(HC-06)

  • DC motor x2, DC motor driver(L9110s)

  • IR Reflective Sensor (TCRT 5000) x2

  • HC-SR04

  • additional sensor/actuators are acceptable

Software

• Keil uVision, CMSIS, EC_HAL library

Preparation

Tutorials:

Complete the following tutorials: TU: Custom initialization

Use ecSTM32F411v2.h and void MCU_init(void) in your project code.

LABS:

You should review previous labs for help

1. LAB: ADC IR Sensor

2. LAB: USART Bluetooth

3. LAB: Timer & PWM

Problem Definition

Design your RC car that has the following functions:

1. Line tracing on the given racing track

2. has 2 control modes: Manual Mode to AUTO Mode

3. stops temporally when it detects an object nearby on the driving path

On the PC, connected to MCU via bluetooth

• Print the car status every 1 sec such as “ ( “ MOD: A DIR: F STR: 00 VEL: 00 ”)

Manual Mode

• Mode Change( MOD):

  • When 'M' or 'm' is pressed, it should enter Manual Mode

  • LD2 should be ON in the Manual Mode

• Speed (VEL):

  • Increase or decrease speed each time you push the arrow key “UP” or “DOWN”, respectively.

  • You can choose the speed keys

  • Choose the speed level: V0 ~ V3

• Steer (STR):

  • Steering control with keyboard keys

  • Increase or decrease the steering angles each time you press the arrow key “RIGHT” or “LEFT”, respectively.

  • Steer angles with 3 levels for both sides

    • example: Lelvel -3, -2, -1, 0, 1, 2, 3 // '-' angle is turning to left

• Driving Direction (DIR)

  • Forward or backward by pressing the key “F” or “B”, respectively.

  • You can choose other DIR keyboard keys

• Emergency Stop

  • RC car must stop running when key “S” is pressed.

  • This must be the highest priority

Automatic Mode

• Mode Change:

  • When 'A' or 'a' is pressed, it should enter AUTO Mode

• LD2 should blink at 2 second rate in AUTO Mode

• It should drive on the racing track continuously

Automatic Mode (Temporarily Stop)

• Stops temporally when it detects an object nearby on the driving path

• LD2 should blink at 0.5 second rate at this situation

• If the obstacle is removed, it should drive continuously

Procedure

1. Discuss with the teammate how to design an algorithm for this problem

2. In the report, you need to explain concisely how your system works with state tables/diagram or flow-chart.

   ● Listing all necessary states (states, input, output etc) to implement this design problem.

   ● Listing all necessary conditional FLAGS for programming.

   ● Showing the logic flow from the initialization

   and more

3. Select appropriate configurations for the design problem. Fill in the table.

Functions	Register	PORT_PIN	Configuration
System Clock	RCC		PLL 84MHz
delay_ms	SysTick
Motor DIR	Digital Out
	….
TIMER	TIMER1
	TIMER2
Timer Interrupt	...		10msec
ADC	ADC
	….
DC Motor Speed	PWM2
ADC sampling trigger	PWM3
RS-232 USB cable(ST-LINK)	USART2		No Parity, 8-bit Data, 1-bit Stop bit 38400 baud-rate
Bluetooth	USART1	TXD: PA9 RXD: PA10	No Parity, 8-bit Data, 1-bit Stop bit 9600 baud-rate

1. Create a new project under the directory \repos\EC\PROJECT\PROJECT_RCcar

• The project name is “PROJECT_RCcar”

• You can share the same code with your teammate. But need to write the report individually

Circuit Diagram

You need to include the circuit diagram

image

Code

Your code goes here: ADD Code LINK such as github

// YOUR MAIN CODE ONLY
// YOUR CODE with Comments

Results

Experiment images and results

Show experiment images /results

Add demo video link

Reference

Complete list of all references used (github, blog, paper, etc)

Troubleshooting

(Option) You can write Troubleshooting section

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What to submit

EC_LineTracingCar_ID1_ID2.zip

1. Report: \report\

• \img folder

• EC_LineTracingCar_ID1_ID2_Report.md

• EC_LineTracingCar_ID1_ID2_Report.pdf

1. Source code: \src\

• \includefolder

• EC_LineTracingCar_ID1_ID2_main.c

Example: