Elcano Project Wiki - User contributions [en]

Simulator

2019-07-29T03:50:26Z

Fnavarro: /* Elcano Carla Simulation External Specification */

= Elcano Carla Simulation External Specification =

The CARLA simulator portion of the Elcano project utilizes a unique go-between circuit board to transfer data between test environments within CARLA simulations and various sensor components within the physical vehicle. The CARLA software allows users to emulate trike parameters under controlled conditions within a virtual world, providing an efficient system for testing sensor accuracy, design implementation, and benchmarking overall vehicle progression. The CARLA software can simulate a variety of road conditions such as traffic patterns, incline, and weather as well as provide users control over vehicle parameters including weight, engine power, and aerodynamic properties.

A go-between circuit board will transfer data from vehicle systems to CARLA under a variety of test conditions, enabling the software to replicate responses and return sensor data to be reevaluated for accuracy. Connecting the simulation software to components on both the high and low level boards of the Elcano trike including lidar, sonar, throttle, and brake systems, will allow users to immediately see the results of adjustments to vehicle parameters and highlight physical aspects of the trike within the virtual simulation. This project will enable users to efficiently implement improvements and track the immediate effects of design changes without spending the time and resources it would take to transport or operate the trike in real world test scenarios.

[[File:Full_Block_Diagram.JPG|1000px]]

== How to Set-up ==

The components involved in the simulation of the Elcano trike vehicle will be a computer running an instance of CARLA along with our framework and any additional user scripts along with a go-between board to direct data from the trike system to CARLA and back. The flow of data between components can be seen in the project block diagram. The following is an overview of the simulation equipment and necessary connections to be made.

'''Hardware'''
* A computer with a mid level graphics card and a display monitor.
* The computer should have the latest stable version of CARLA installed and be able to run it at an acceptable level of performance.
* The computer should have Elcano test framework installed.
* Parallel cable
* Go-between board (Type of board TBD)
* Wires.

'''Software'''
* CARLA Simulator
* Framework to manage the trike model along with manipulating and transporting data between the board and the simulator.
* User scripts defining whatever conditions will be added to the simulation

== CARLA User Guide ==

* Connect the parallel port on the computer to the one on the go between board

* Connect the go between board to the can bus and whatever sensors you would like to replace with simulation input

* Attach the output from the low level board to the go between board

* Run CARLAUE4.exe to spawn a new instance of the CARLA Simulator

* (Optional) open trike.py and under the line “##TRIKE ATTRIBUTES” adjust or add any of the attributes in the CARLA Trike Model on the wiki to the object assigned to the “trikeControl” object

* Open a new command window

* Run framework.py

* Follow the prompt to insert the trike into the simulation

* (Optional) Provide a logging file that will contain the output sensor data from the simulation

* The trike will now await actuating control inputs from the parallel port while outputting the sensor data along the same port as well as to the log file if enabled

* Open a new command window and run whatever CARLA scripts you would like to test the trike with for example “dynamic_weather.py” included in the CARLA examples will enable different dynamic weather patterns at random within the simulation

Simulator

2019-07-29T03:44:56Z

Fnavarro: /* Elcano Carla Simulation External Specification */

= Elcano Carla Simulation External Specification =

The CARLA simulator portion of the Elcano project utilizes a unique go-between circuit board to transfer data between test environments within CARLA simulations and various sensor components within the physical vehicle. The CARLA software allows users to emulate trike parameters under controlled conditions within a virtual world, providing an efficient system for testing sensor accuracy, design implementation, and benchmarking overall vehicle progression. The CARLA software can simulate a variety of road conditions such as traffic patterns, incline, and weather as well as provide users control over vehicle parameters including weight, engine power, and aerodynamic properties.

A go-between circuit board will transfer data from vehicle systems to CARLA under a variety of test conditions, enabling the software to replicate responses and return sensor data to be reevaluated for accuracy. Connecting the simulation software to components on both the high and low level boards of the Elcano trike including lidar, sonar, throttle, and brake systems, will allow users to immediately see the results of adjustments to vehicle parameters and highlight physical aspects of the trike within the virtual simulation. This project will enable users to efficiently implement improvements and track the immediate effects of design changes without spending the time and resources it would take to transport or operate the trike in real world test scenarios.

[[File:Full_Block_Diagram.jpg|1000px]]

== How to Set-up ==

The components involved in the simulation of the Elcano trike vehicle will be a computer running an instance of CARLA along with our framework and any additional user scripts along with a go-between board to direct data from the trike system to CARLA and back. The flow of data between components can be seen in the project block diagram. The following is an overview of the simulation equipment and necessary connections to be made.

'''Hardware'''
* A computer with a mid level graphics card and a display monitor.
* The computer should have the latest stable version of CARLA installed and be able to run it at an acceptable level of performance.
* The computer should have Elcano test framework installed.
* Parallel cable
* Go-between board (Type of board TBD)
* Wires.

'''Software'''
* CARLA Simulator
* Framework to manage the trike model along with manipulating and transporting data between the board and the simulator.
* User scripts defining whatever conditions will be added to the simulation

== CARLA User Guide ==

* Connect the parallel port on the computer to the one on the go between board

* Connect the go between board to the can bus and whatever sensors you would like to replace with simulation input

* Attach the output from the low level board to the go between board

* Run CARLAUE4.exe to spawn a new instance of the CARLA Simulator

* (Optional) open trike.py and under the line “##TRIKE ATTRIBUTES” adjust or add any of the attributes in the CARLA Trike Model on the wiki to the object assigned to the “trikeControl” object

* Open a new command window

* Run framework.py

* Follow the prompt to insert the trike into the simulation

* (Optional) Provide a logging file that will contain the output sensor data from the simulation

* The trike will now await actuating control inputs from the parallel port while outputting the sensor data along the same port as well as to the log file if enabled

* Open a new command window and run whatever CARLA scripts you would like to test the trike with for example “dynamic_weather.py” included in the CARLA examples will enable different dynamic weather patterns at random within the simulation

Simulator

2019-07-29T03:24:30Z

Fnavarro: /* How to Set-up */

Simulator

2019-07-29T03:24:03Z

Fnavarro: /* Elcano Carla Simulation External Specification */

Simulator

2019-07-29T03:23:31Z

Fnavarro: /* CARLA User Guide */

Simulator

2019-07-29T03:20:04Z

Fnavarro: /* CARLA User Guide */

= Elcano Carla Simulation External Specification =

The CARLA simulator portion of the Elcano project utilizes a unique go-between circuit board to transfer data between test environments within CARLA simulations and various sensor components within the physical vehicle. The CARLA software allows users to emulate trike parameters under controlled conditions within a virtual world, providing an efficient system for testing sensor accuracy, design implementation, and benchmarking overall vehicle progression. The CARLA software can simulate a variety of road conditions such as traffic patterns, incline, and weather as well as provide users control over vehicle parameters including weight, engine power, and aerodynamic properties.

A go-between circuit board will transfer data from vehicle systems to CARLA under a variety of test conditions, enabling the software to replicate responses and return sensor data to be reevaluated for accuracy. Connecting the simulation software to components on both the high and low level boards of the Elcano trike including lidar, sonar, throttle, and brake systems, will allow users to immediately see the results of adjustments to vehicle parameters and highlight physical aspects of the trike within the virtual simulation. This project will enable users to efficiently implement improvements and track the immediate effects of design changes without spending the time and resources it would take to transport or operate the trike in real world test scenarios.

[[File:Full_Block_Diagram.JPG|1000px]]

== How to Set-up ==

The components involved in the simulation of the Elcano trike vehicle will be a computer running an instance of CARLA along with our framework and any additional user scripts along with a go-between board to direct data from the trike system to CARLA and back. The flow of data between components can be seen in the project block diagram. The following is an overview of the simulation equipment and necessary connections to be made.

'''Hardware'''
* A computer with a mid level graphics card and a display monitor.
* The computer should have the latest stable version of CARLA installed and be able to run it at an acceptable level of performance.
* The computer should have Elcano test framework installed.
* Parallel cable
* Go-between board (Type of board TBD)
* Wires.

'''Software'''
* CARLA Simulator
* Framework to manage the trike model along with manipulating and transporting data between the board and the simulator.
* User scripts defining whatever conditions will be added to the simulation

== CARLA User Guide ==

1. Connect the parallel port on the computer to the one on the go between board

2. Connect the go between board to the can bus and whatever sensors you would like to replace with simulation input

3. Attach the output from the low level board to the go between board

4. Run CARLAUE4.exe to spawn a new instance of the CARLA Simulator

5. (Optional) open trike.py and under the line “##TRIKE ATTRIBUTES” adjust or add any of the attributes in the CARLA Trike Model on the wiki to the object assigned to the “trikeControl” object

6). Open a new command window

7).Run framework.py

8). Follow the prompt to insert the trike into the simulation

9). (Optional) Provide a logging file that will contain the output sensor data from the simulation

10). The trike will now await actuating control inputs from the parallel port while outputting the sensor data along the same port as well as to the log file if enabled

11). Open a new command window and run whatever CARLA scripts you would like to test the trike with for example “dynamic_weather.py” included in the CARLA examples will enable different dynamic weather patterns at random within the simulation

Simulator

2019-07-29T03:18:58Z

Fnavarro: /* CARLA User Guide */

= Elcano Carla Simulation External Specification =

The CARLA simulator portion of the Elcano project utilizes a unique go-between circuit board to transfer data between test environments within CARLA simulations and various sensor components within the physical vehicle. The CARLA software allows users to emulate trike parameters under controlled conditions within a virtual world, providing an efficient system for testing sensor accuracy, design implementation, and benchmarking overall vehicle progression. The CARLA software can simulate a variety of road conditions such as traffic patterns, incline, and weather as well as provide users control over vehicle parameters including weight, engine power, and aerodynamic properties.

A go-between circuit board will transfer data from vehicle systems to CARLA under a variety of test conditions, enabling the software to replicate responses and return sensor data to be reevaluated for accuracy. Connecting the simulation software to components on both the high and low level boards of the Elcano trike including lidar, sonar, throttle, and brake systems, will allow users to immediately see the results of adjustments to vehicle parameters and highlight physical aspects of the trike within the virtual simulation. This project will enable users to efficiently implement improvements and track the immediate effects of design changes without spending the time and resources it would take to transport or operate the trike in real world test scenarios.

[[File:Full_Block_Diagram.JPG|1000px]]

== How to Set-up ==

The components involved in the simulation of the Elcano trike vehicle will be a computer running an instance of CARLA along with our framework and any additional user scripts along with a go-between board to direct data from the trike system to CARLA and back. The flow of data between components can be seen in the project block diagram. The following is an overview of the simulation equipment and necessary connections to be made.

'''Hardware'''
* A computer with a mid level graphics card and a display monitor.
* The computer should have the latest stable version of CARLA installed and be able to run it at an acceptable level of performance.
* The computer should have Elcano test framework installed.
* Parallel cable
* Go-between board (Type of board TBD)
* Wires.

'''Software'''
* CARLA Simulator
* Framework to manage the trike model along with manipulating and transporting data between the board and the simulator.
* User scripts defining whatever conditions will be added to the simulation

== CARLA User Guide ==

1. Connect the parallel port on the computer to the one on the go between board

2. Connect the go between board to the can bus and whatever sensors you would like to replace with simulation input

3. Attach the output from the low level board to the go between board

4. Run CARLAUE4.exe to spawn a new instance of the CARLA Simulator

5. (Optional) open trike.py and under the line “##TRIKE ATTRIBUTES” adjust or add any of the attributes in the CARLA Trike Model on the wiki to the object assigned to the “trikeControl” object

6). Open a new command window

7).Run framework.py

8). Follow the prompt to insert the trike into the simulation

9). (Optional) Provide a logging file that will contain the output sensor data from the simulation

10). The trike will now await actuating control inputs from the parallel port while outputting the sensor data along the same port as well as to the log file if enabled

11). Open a new command window and run whatever CARLA scripts you would like to test the trike with for example “dynamic_weather.py” included in the CARLA examples will enable different dynamic weather patterns at random within the simulation

Simulator

2019-07-29T03:18:18Z

Fnavarro: /* CARLA User Guide */

= Elcano Carla Simulation External Specification =

The CARLA simulator portion of the Elcano project utilizes a unique go-between circuit board to transfer data between test environments within CARLA simulations and various sensor components within the physical vehicle. The CARLA software allows users to emulate trike parameters under controlled conditions within a virtual world, providing an efficient system for testing sensor accuracy, design implementation, and benchmarking overall vehicle progression. The CARLA software can simulate a variety of road conditions such as traffic patterns, incline, and weather as well as provide users control over vehicle parameters including weight, engine power, and aerodynamic properties.

A go-between circuit board will transfer data from vehicle systems to CARLA under a variety of test conditions, enabling the software to replicate responses and return sensor data to be reevaluated for accuracy. Connecting the simulation software to components on both the high and low level boards of the Elcano trike including lidar, sonar, throttle, and brake systems, will allow users to immediately see the results of adjustments to vehicle parameters and highlight physical aspects of the trike within the virtual simulation. This project will enable users to efficiently implement improvements and track the immediate effects of design changes without spending the time and resources it would take to transport or operate the trike in real world test scenarios.

[[File:Full_Block_Diagram.JPG|1000px]]

== How to Set-up ==

The components involved in the simulation of the Elcano trike vehicle will be a computer running an instance of CARLA along with our framework and any additional user scripts along with a go-between board to direct data from the trike system to CARLA and back. The flow of data between components can be seen in the project block diagram. The following is an overview of the simulation equipment and necessary connections to be made.

'''Hardware'''
* A computer with a mid level graphics card and a display monitor.
* The computer should have the latest stable version of CARLA installed and be able to run it at an acceptable level of performance.
* The computer should have Elcano test framework installed.
* Parallel cable
* Go-between board (Type of board TBD)
* Wires.

'''Software'''
* CARLA Simulator
* Framework to manage the trike model along with manipulating and transporting data between the board and the simulator.
* User scripts defining whatever conditions will be added to the simulation

== CARLA User Guide ==

1. Connect the parallel port on the computer to the one on the go between board

2. Connect the go between board to the can bus and whatever sensors you would like to replace with simulation input

3. Attach the output from the low level board to the go between board

4. Run CARLAUE4.exe to spawn a new instance of the CARLA Simulator

5. (Optional) open trike.py and under the line “##TRIKE ATTRIBUTES” adjust or add any of the attributes in the CARLA Trike Model on the wiki to the object assigned to the “trikeControl” object
6). Open a new command window
7).Run framework.py
8). Follow the prompt to insert the trike into the simulation
9). (Optional) Provide a logging file that will contain the output sensor data from the simulation
10). The trike will now await actuating control inputs from the parallel port while outputting the sensor data along the same port as well as to the log file if enabled
11). Open a new command window and run whatever CARLA scripts you would like to test the trike with for example “dynamic_weather.py” included in the CARLA examples will enable different dynamic weather patterns at random within the simulation

Simulator

2019-07-29T03:17:18Z

Fnavarro: /* Elcano Carla Simulation External Specification */

= Elcano Carla Simulation External Specification =

The CARLA simulator portion of the Elcano project utilizes a unique go-between circuit board to transfer data between test environments within CARLA simulations and various sensor components within the physical vehicle. The CARLA software allows users to emulate trike parameters under controlled conditions within a virtual world, providing an efficient system for testing sensor accuracy, design implementation, and benchmarking overall vehicle progression. The CARLA software can simulate a variety of road conditions such as traffic patterns, incline, and weather as well as provide users control over vehicle parameters including weight, engine power, and aerodynamic properties.

A go-between circuit board will transfer data from vehicle systems to CARLA under a variety of test conditions, enabling the software to replicate responses and return sensor data to be reevaluated for accuracy. Connecting the simulation software to components on both the high and low level boards of the Elcano trike including lidar, sonar, throttle, and brake systems, will allow users to immediately see the results of adjustments to vehicle parameters and highlight physical aspects of the trike within the virtual simulation. This project will enable users to efficiently implement improvements and track the immediate effects of design changes without spending the time and resources it would take to transport or operate the trike in real world test scenarios.

[[File:Full_Block_Diagram.JPG|1000px]]

== How to Set-up ==

The components involved in the simulation of the Elcano trike vehicle will be a computer running an instance of CARLA along with our framework and any additional user scripts along with a go-between board to direct data from the trike system to CARLA and back. The flow of data between components can be seen in the project block diagram. The following is an overview of the simulation equipment and necessary connections to be made.

'''Hardware'''
* A computer with a mid level graphics card and a display monitor.
* The computer should have the latest stable version of CARLA installed and be able to run it at an acceptable level of performance.
* The computer should have Elcano test framework installed.
* Parallel cable
* Go-between board (Type of board TBD)
* Wires.

'''Software'''
* CARLA Simulator
* Framework to manage the trike model along with manipulating and transporting data between the board and the simulator.
* User scripts defining whatever conditions will be added to the simulation

== CARLA User Guide ==

1). Connect the parallel port on the computer to the one on the go between board
2). Connect the go between board to the can bus and whatever sensors you would like to replace with simulation input
3). Attach the output from the low level board to the go between board
4). Run CARLAUE4.exe to spawn a new instance of the CARLA Simulator
5). (Optional) open trike.py and under the line “##TRIKE ATTRIBUTES” adjust or add any of the attributes in the CARLA Trike Model on the wiki to the object assigned to the “trikeControl” object
6). Open a new command window
7).Run framework.py
8). Follow the prompt to insert the trike into the simulation
9). (Optional) Provide a logging file that will contain the output sensor data from the simulation
10). The trike will now await actuating control inputs from the parallel port while outputting the sensor data along the same port as well as to the log file if enabled
11). Open a new command window and run whatever CARLA scripts you would like to test the trike with for example “dynamic_weather.py” included in the CARLA examples will enable different dynamic weather patterns at random within the simulation

Simulator

2019-07-29T03:13:53Z

Fnavarro: /* How to Set-up */

Simulator

2019-07-29T03:11:01Z

Fnavarro: /* Elcano Carla Simulation External Specification */

Simulator

2019-07-29T03:09:31Z

Fnavarro: /* How to Set-up */

Simulator

2019-07-29T03:07:39Z

Fnavarro:

Simulator

2019-07-29T03:06:37Z

Fnavarro: /* Elcano Carla Simulation External Specification */

File:Full Block Diagram.JPG

2019-07-29T03:04:53Z

Fnavarro: Fnavarro uploaded a new version of File:Full Block Diagram.JPG

Simulator

2019-07-29T03:04:26Z

Fnavarro:

Simulator

2019-07-29T03:01:58Z

Fnavarro: /* Elcano Carla Simulation External Specification */

File:Full Block Diagram.JPG

2019-07-29T02:58:13Z

Fnavarro:

Simulator

2019-07-29T02:57:51Z

Fnavarro: Created page with "= Elcano Carla Simulation External Specification = The CARLA simulator portion of the Elcano project utilizes a unique go-between circuit board to transfer data between test..."

Main Page

2019-07-29T02:25:23Z

Fnavarro: /* Simulator */

= Welcome to the Elcano Project Wiki =
As the title says, WELCOME TO THE ELCANO PROJECT! Over the past few years many different teams have been working hard to create Cheap and Modular autonomy at the University of Washington Bothell. We are currently working on our first two prototypes which are now in the form of tricycles. With the use of affordable microcontrollers, such as the Arduino Mega 2560 and Raspberry PI, we are working towards creating Autonomy for anyone to rebuild anywhere, and that under $2000 and fully open-source. But we don't plan to stop there, no. That is just the first step in reaching our ultimate goal, which is making our systems applicable to any desired ground vehicles, such as cars and other vehicles. Autonomy is nothing new, in fact it has been around for over 40 years, the difference is that now we have the ability to make it available for anyone who desires furthering their knowledge or simply finding a safer way to work.

To '''edit articles''' or '''upload files''', please create an account and request editing rights from a [//www.elcanoproject.org/wiki/index.php?title=Special:ListUsers&group=bureaucrat member of the "bureaucrat" group].

For editing help visit https://www.mediawiki.org/wiki/Help:Editing_pages or https://www.mediawiki.org/wiki/Help:Formatting.
--------
[[File:Catrikes.JPG|1000px]]
== [[ElcanoIntro | Overview]] ==
Basic concept of how the Elcano Project vehicle works.

== [[System Architecture]] ==
How processors connect to sensors, each other, actuators, and other hardware. Includes processor-to-processor communication protocol.

== [[Communication | Communication (CAN Bus)]] ==
How processors exchange data on the vehicle and a description of data packet contents.

== [[Power System]] ==
How different modules connect to the batteries or power subsystem hardware.

== [[Low Level]] ==
How the Low Level system uses inputs to control actuators to steer, move, and stop the vehicle.

== [[High Level]] ==
How the High Level system uses stored maps and inputs from navigational sensors to formulate movement instructions sent to Low Level.

== [[RemoteControl]] ==
Human control of trike movements through Low Level using hardware connected to Low Level by a radio communication link (drive by radio). Includes on-board controls (drive by wire).

== [[SensorsPage]] ==

=== [[SteeringSensor]] ===
The front wheel angle detector.

=== [[Sonar]] ===
How the sonar subsystem connected to High Level works.

=== [[Lidar]] ===
How the lidar subsystem connected to High Level works.

=== [[ Camera]] ===
How the camera and vision subsystem connected to High Level works.

== [[ActuatorPage]] ==

== [[ Board Diagrams]] ==
Images of Elcano Project's printed circuit boards for reference. PCB source files and schematics are maintained and stored at [//github.com/elcano].

== [[ Simulator]] ==
Using Open-source CARLA platform with a go-between board allows simulation.

== [[GitUsage | Using Git and GitHub]] ==
Practices for maintaining code and source files on Elcano Project's Github.

==[[FilesPage | Files]] ==
These are media files (pictures, videos, etc.) that are part of the project, but are not maintained under version control.

== Elcano Project Main Website ==
* [//www.elcanoproject.org]

Main Page

2019-07-29T00:53:00Z

Fnavarro: /* Simulator */

= Welcome to the Elcano Project Wiki =
As the title says, WELCOME TO THE ELCANO PROJECT! Over the past few years many different teams have been working hard to create Cheap and Modular autonomy at the University of Washington Bothell. We are currently working on our first two prototypes which are now in the form of tricycles. With the use of affordable microcontrollers, such as the Arduino Mega 2560 and Raspberry PI, we are working towards creating Autonomy for anyone to rebuild anywhere, and that under $2000 and fully open-source. But we don't plan to stop there, no. That is just the first step in reaching our ultimate goal, which is making our systems applicable to any desired ground vehicles, such as cars and other vehicles. Autonomy is nothing new, in fact it has been around for over 40 years, the difference is that now we have the ability to make it available for anyone who desires furthering their knowledge or simply finding a safer way to work.

To '''edit articles''' or '''upload files''', please create an account and request editing rights from a [//www.elcanoproject.org/wiki/index.php?title=Special:ListUsers&group=bureaucrat member of the "bureaucrat" group].

For editing help visit https://www.mediawiki.org/wiki/Help:Editing_pages or https://www.mediawiki.org/wiki/Help:Formatting.
--------
[[File:Catrikes.JPG|1000px]]
== [[ElcanoIntro | Overview]] ==
Basic concept of how the Elcano Project vehicle works.

== [[System Architecture]] ==
How processors connect to sensors, each other, actuators, and other hardware. Includes processor-to-processor communication protocol.

== [[Communication | Communication (CAN Bus)]] ==
How processors exchange data on the vehicle and a description of data packet contents.

== [[Power System]] ==
How different modules connect to the batteries or power subsystem hardware.

== [[Low Level]] ==
How the Low Level system uses inputs to control actuators to steer, move, and stop the vehicle.

== [[High Level]] ==
How the High Level system uses stored maps and inputs from navigational sensors to formulate movement instructions sent to Low Level.

== [[RemoteControl]] ==
Human control of trike movements through Low Level using hardware connected to Low Level by a radio communication link (drive by radio). Includes on-board controls (drive by wire).

== [[SensorsPage]] ==

=== [[SteeringSensor]] ===
The front wheel angle detector.

=== [[Sonar]] ===
How the sonar subsystem connected to High Level works.

=== [[Lidar]] ===
How the lidar subsystem connected to High Level works.

=== [[ Camera]] ===
How the camera and vision subsystem connected to High Level works.

== [[ActuatorPage]] ==

== [[ Board Diagrams]] ==
Images of Elcano Project's printed circuit boards for reference. PCB source files and schematics are maintained and stored at [//github.com/elcano].

== [[ Simulator]] ==
Using Open-source CARLA platform with a go-between board allows simulation.
[[File:Minimal_Block_Diagram.jpg|1000px]]

== [[GitUsage | Using Git and GitHub]] ==
Practices for maintaining code and source files on Elcano Project's Github.

==[[FilesPage | Files]] ==
These are media files (pictures, videos, etc.) that are part of the project, but are not maintained under version control.

== Elcano Project Main Website ==
* [//www.elcanoproject.org]

Main Page

2019-07-29T00:52:42Z

Fnavarro: /* Using Git and GitHub */

File:Minimal Block Diagram.jpg

2019-07-29T00:46:12Z

Fnavarro:

Main Page

2019-07-29T00:45:20Z

Fnavarro: /* Using Git and GitHub */

= Welcome to the Elcano Project Wiki =
As the title says, WELCOME TO THE ELCANO PROJECT! Over the past few years many different teams have been working hard to create Cheap and Modular autonomy at the University of Washington Bothell. We are currently working on our first two prototypes which are now in the form of tricycles. With the use of affordable microcontrollers, such as the Arduino Mega 2560 and Raspberry PI, we are working towards creating Autonomy for anyone to rebuild anywhere, and that under $2000 and fully open-source. But we don't plan to stop there, no. That is just the first step in reaching our ultimate goal, which is making our systems applicable to any desired ground vehicles, such as cars and other vehicles. Autonomy is nothing new, in fact it has been around for over 40 years, the difference is that now we have the ability to make it available for anyone who desires furthering their knowledge or simply finding a safer way to work.

To '''edit articles''' or '''upload files''', please create an account and request editing rights from a [//www.elcanoproject.org/wiki/index.php?title=Special:ListUsers&group=bureaucrat member of the "bureaucrat" group].

For editing help visit https://www.mediawiki.org/wiki/Help:Editing_pages or https://www.mediawiki.org/wiki/Help:Formatting.
--------
[[File:Catrikes.JPG|1000px]]
== [[ElcanoIntro | Overview]] ==
Basic concept of how the Elcano Project vehicle works.

== [[System Architecture]] ==
How processors connect to sensors, each other, actuators, and other hardware. Includes processor-to-processor communication protocol.

== [[Communication | Communication (CAN Bus)]] ==
How processors exchange data on the vehicle and a description of data packet contents.

== [[Power System]] ==
How different modules connect to the batteries or power subsystem hardware.

== [[Low Level]] ==
How the Low Level system uses inputs to control actuators to steer, move, and stop the vehicle.

== [[High Level]] ==
How the High Level system uses stored maps and inputs from navigational sensors to formulate movement instructions sent to Low Level.

== [[RemoteControl]] ==
Human control of trike movements through Low Level using hardware connected to Low Level by a radio communication link (drive by radio). Includes on-board controls (drive by wire).

== [[SensorsPage]] ==

=== [[SteeringSensor]] ===
The front wheel angle detector.

=== [[Sonar]] ===
How the sonar subsystem connected to High Level works.

=== [[Lidar]] ===
How the lidar subsystem connected to High Level works.

=== [[ Camera]] ===
How the camera and vision subsystem connected to High Level works.

== [[ActuatorPage]] ==

== [[ Board Diagrams]] ==
Images of Elcano Project's printed circuit boards for reference. PCB source files and schematics are maintained and stored at [//github.com/elcano].

== [[ Simulator]] ==
Using Open-source CARLA platform with a go-between board allows simulation.

== [[GitUsage | Using Git and GitHub]] ==
Practices for maintaining code and source files on Elcano Project's Github.
[[File:Minimal_Block_Diagram.jpg|1000px]]

==[[FilesPage | Files]] ==
These are media files (pictures, videos, etc.) that are part of the project, but are not maintained under version control.

== Elcano Project Main Website ==
* [//www.elcanoproject.org]