Introduction: Car No. 05 Fourth Stage (Strawberry Version)
Car No.05 is the project aiming to make a programmed automatic driving car.
In First Stage, I assembled a smaller turning radius R/C chassis and made a relationship table between steering servo value and turning radius.
In Second Stage, I made an Excel simulation program, to which car starting point, car starting direction and pass points were input, then from which steval and car direction were obtained as automatic driving data.
In Third Stage, I attached PC on car body, made Tachometers and automatic driving control system (plain-vanilla version) was tested.
In this Fourth Stage, further automatic driving system (strawberry version) is tested.
Direction measurement using censor is applied in this Strawberry version.
Various types of sensor are tested for direction measurement.
Code names of Tochiotome(gyro HS-EG3), Amaou(3-axis digital compass.HMC5843), Hinoshizuku1(3-axis gyro ITG-3200) and Hinoshizuku2(IMU Digital Combo Board - 6 DOF ITG3200/ADXL345) are tested.
Finally, Hinoshizuku1(3-axis gyro ITG-3200) is applied for Strawberry version.
Carefully check the picture, fourth Arduino is attached above central one.
Step 1: Sensors to Be Tested
Tochiotome
- gyro HS-EG3 (+ Condenser 100uF, 0.10uF x 3, Resistance 100K ohm x 2)
Amaou
- 3-axis digital compass HMC5843
Hinosizuku1
- 3-axis gyro ITG-3200
Hinoshizuku2
- IMU Digital Combo Board - 6 DOF ITG3200/ADXL345
Connection between Arduino and Desktop PC is by bluetooth. BlueSMiRF for Arduino side and Parani-UD100 for PC side are used.
Step 2: Tochiotome(gyro HS-EG3)
Set HS-EG3, condensers and resistances on Arduino. (Refer to the product spec. http://www.mecharoboshop.com/Products/STLJapan/Tsukasa21-Tsukasa41-Specific%281-2%29.pdf,Vout --> A5)
Processing and Arduino codes
HS_EG3_P.pde
HS_EG3_A.pde
Upload Arduino code and run Processing code.
Rotate and move Arduino, and check azimuth shown in Processing screen.
It seems OK for slow movement, but for quick movement, this sensor cannot follow with.
Attachments
Step 3: Amaou(3-axis Digital Compass HMC5843)
Set HMC5843 on Arduino and connect.
(GND – GND, VCC – 3.3, SDA – A4, SCL – A5)
Processing and Arduino codes
HMC5843_P.pde
HMC5843_A.pde
Upload Arduino code and run Processing code.
Rotate and move Arduino, and check azimuth shown in Processing screen.
This is no good! This censor is well functioning at same location, but once moved to 1-2m away, incorrect azimuth is shown.
Compass module cannot be applied inside the reinforced concrete structure.
Attachments
Step 4: Hinoshizuku1(3-axis Gyro ITG-3200)
Set ITG-3200 on Arduino and connect.
SCL – A5
SDA – A4
CLK – GND
INT – No connect
GND – GND
VIO – 3.3
VDD – 3.3
Processing and Arduino codes
ITG3200_P.pde
ITG3200_A.pde
Upload Arduino code and run Processing code.
This seems OK for yaw rotation, but once roll or pitch rotation worked, it goes out of order.
Apply another Processing and Arduino codes (+ h, cpp, c files).
FreeIMU1.lzh
I got the code from varesano.net and modified.
(http://www.varesano.net/blog/fabio/initial-implementation-9-domdof-marg-imu-orientation-filter-adxl345-itg3200-and-hmc5843-a)
This is quite OK!
Thank you very much, Fabio!
Step 5: Hinoshizuku2(IMU Digital Combo Board - 6 DOF ITG3200/ADXL345)OF ITG3200/ADXL345)
Set ITG3200/ADXL345 on Arduino and connect.
INT0 – No connect
INT1 – D2
SCL – A5
SDA – A4
GND – GND
3.3V – 3.3
Processing and Arduino codes (+ h, cpp, c files)
FreeIMU2.lzh
I also got the code from varesano.net and modified.
(http://www.varesano.net/blog/fabio/initial-implementation-9-domdof-marg-imu-orientation-filter-adxl345-itg3200-and-hmc5843-a)
This is also quite OK! Effect of Kalman filter is great!
But the requirement for Strawberry version is a correct measurement of Yaw angle.
Hinoshizuku2 will be applied for Roll+Pitch+Yaw measurement system (in another car project).
Attachments
Step 6: Code
Finally, Hinoshizuku1(3-axis gyro ITG-3200) is applied for Strawberry version.
In Strawberry version, combination of Tachometers and azimuth measurement is applied.
Fourth Arduino is attached above central Arduino.
I applied Low Dropout Voltage Regulator NJM2845DL1-33 to supply accurate 3.3V to ITG-3200.
Fourth Arduino code is same as Hinoshizuku1. (FreeIMU_A.pde)
Processing code
CARNO05_STRAWBERRY_P.pde
I choose Turning Radius (RC Car Center) of 500mm for the interface between tachometers and azimuth measurement.
Tachometer data is used for more than 500mm turning radius turn, and azimuth data is used for less than 500mm one.
Adjust the figure of C162 (C88) Cell to 15 in Excel Simulation Program 1 (2), copy the pink hatched cells in “DrivingControl” Worksheet and special paste as value with conversion of row and column in “toProce55ing” Worksheet.
Copy J Column in “toProce55ing” Worksheet and paste into Processing code.
Adjust the numControls figure.
Step 7: Trial Run
Set Car at starting point and direction as programmed.
Switch on R/C car battery.
Start another desktop PC.
From desktop PC, run VNC and establish VNC connection.
PC(Car Top) is a server and desktop PC is a client.
Run the Processing on server from client using VNC.
It is much improved compared with Plain-vanilla version. The success rate of coming back to starting point is nearly 100%. But car goes further point compared with the Excel simulation. This might be caused by the incorrect tire diameter input. But once I changed tire diameter figure, the car could not come back!
I intended the continuous driving after first circuit to second circuit, but with this result I cannot proceed with continuous driving to second circuit.
Anyway, I will proceed to next chocolate version.
Step 8: To Be Continued
In Car No.05 Fifth Stage, chocolate version of automatic driving control system will be tested. Chocolate version is the car own position adjusting system using web camera.
However, adjusting car own position system requires backward driving. Since the speed controller Tamiya TEU-104BK does not function well for the change from forward to backward.
Prior be understood that I cannot complete full Chocolate version with this Car No.05.
