Logan AV Final Summary

Logan Ranger Autonomous Vehicle Project 2016

Thank you to all involved!

2016 Logan HS PLTW Digital Electronics Class

District AV Video: https://www.youtube.com/watch?v=DfU3teXdsm8

AV Engineering Blog:  Website: http://loganrangerav.blogspot.com/

 AV Fabrication Video: https://www.youtube.com/watch?v=4eQo5_jsyT8

Logan High School Building Principal: Dr. Deb Markos

DESIGNED AND FABRICATED BY LA CROSSE LOGAN HIGH SCHOOL 

DIGITAL ELECTRONICS CLASS:

THEO CARR , MICHAEL FELIX, KILLIAN HARNISH, DAVID KNUTSON, OWEN KOSIR     ISAAC LIST, ZACH MAYER, DALLAS PATASKA, BEN PIERCE , JOE SCHMIDA

OSCAR SEXAUER,  CLARE SIMPSON, JAMES SLADE,  TYSON THOMAS        

JOHN THORNTON-WEYRAUCH, KAO XIONG

INSTRUCTOR: STEVE JOHNSTON, LOGAN TECHNOLOGY & ENGINEERING DEPT.

CONTRIBUTORS (TECHNICAL EXPERTISE):

DAVE FOYE,  ELECTRICAL ENGINEER 

JUSTIN PITZ, LOGAN HS TECHNOLOGY & ENGINEERING INSTRUCTOR  

JON BURMAN, WTC INSTRUCTOR

GREG SUTTON, TRANE MANUFACTURING ENGINEERING

MIKE ROACH, TRANE

JACOB SCHUMACHER, LOGAN HS TECHNOLOGY & ENGINEERING INSTRUCTOR

MOTION INDUSTRIES AND COURTNEY INDUSTRIAL BATTERY

TEACHER ASSISTANTS:

GRANT SIMMONS AND TRISTAN FINK

SPONSORED BY:

A GRANT FROM THE LACROSSE PUBLIC EDUCATION FOUNDATION

RANDY & JUDY EDDY FUND

TRANE / INGERSOLL RAND

AV Road Test #1

AV Road Test #1

Date: 6.2.16
Location: Logan HS Back Parking Lot
Time: 10:00 AM - Noon
Students: Grant S.
Goal: Our goal today was to do a systems check and then a road test to see how the controls worked.

Today was the day we had been anxiously anticipating for months...our first road test. We finished wiring connections yesterday so the AV was technically ready to test at that time but we decided to wait until today. Our original goal was to have it completed by the end of the year so we managed to accomplish that goal.

We went through a systems check before and found our main drive was not interfacing with our transmitter. This was not good news as it tested well yesterday. We checked some connections and rebooted the system and it then worked. We may have to change our pre-drive checklist and see if that impacts how that interface sees our controller.

We also started work on some limit switches for the steering. This will be a point of concern as if we are not careful, over steering will force the linear actuator will bend our steering system tie rod.

The road test went well. We will post the compete video on our YouTube Channel later as we are limited on space for this blog. Right now we just posted a short right turn segment.

Our next step will be to finish the limit switches and install the LiveView system which we already have operational.




Front to back view of AV

Grant going through a pre-drive check list we developed.

Slow right turn with the AV. We stopped after the turn because we thought we bent the steering mechanism.  It turned out to be ok.

Front view of AV with our sponsors sign

Top view of AV with solar panel uncovered.

AV Work Day

AV Work Day

Date:5.31.16
Time: 7:30 AM-1:30 PM
Location: Logan HS
Students: Clare, Isaac, Zach, and Oscar
Goal: Test out interfaces and solder all connections together if testing is positive.

A lot of little time consuming work today testing out the interfaces and soldering connections together that were previously mounted and wired with terminal strips. The good news is the tests working on the vehicle and our steering and main drive work. We had a limit switch (or lack there of) problem with our steering mechanism. The linear actuator works well, but when it moves to full extension, it drives our control arm into the frame. We have to adjust that or add limit switches to the design. The actuator is always trying to sense "center point" so we get some back and forth motion with the actuator when the vehicle is going straight.

Students came in on their day off to work on this. We have about 7-8 wires to solder and we should be ready for a test run on the blacktop tomorrow.

Zach and Oscar working on some connections.

Clare and Isaac soldering.

First test of the main drive interface with the entire system together.

AV Work Day 5.27.16 and 5.26.16

AV Work Day

Date:  5.27.16 and 5.26.16
Time: 6:30 AM-8:00 AM and 8:30 AM-Noon
Location: Logan HS
Goal: Finish the majority of the wiring except for interface connections.

All the boxes are now mounted to the vehicle chassis. It took some time to drill holes into the metal frame and then align the boxes. Our controllers and shielding material are now placed on the vehicle and secured with velcro so they can be removed easily to program. Wires had to be resoldered to extend them to appropriate control box.  We still have to connect to motor drivers and then test those connections. Hoping we are ready for a test drive on Tuesday when we are back from the Memorial Day Holiday.

Side view of vehicle with controller mounted in place.

Front view of AV with linear actuator in place.

Identifying the wires sources.

Top view of the front steering components.

AV Work Day 5.25.16

AV Work Day

Date: 5.25.16
Location: Logan HS
Time: 9:44-11:15 AM and 4:00-7:30 PM
Students: DE Class and then after school Oscar and Grant
Goal: Test forward and reverse on main motor drive along with front steering control.

This was a breakthrough day for us. We were able to configure the controller and the motor driver to move the linear actuator for steering. We also tested forward and reverse on the main drive. It has been about a month and a half of bench testing.  Finally being able to take off components we have built and start to mount them on the actual vehicle was a good feeling for the kids.

We had a problem with one of the computer cables we scavenged from some old PC’s. One of the pinouts we were using for direction on the front steering must have had a broken wire in it because our steering was not responding the way we would have liked. Troubleshooting took quite a while to detect it.

After the bench test, we moved all the components to the vehicle. Grant made another box for the steering interface and Oscar remounted the main motor driver which needed to be moved so we could access the chain guard.

Our next goal is to mount all components and then do a systems test next Tuesday. Still looking at an end of school completion date.

Grant and Oscar testing the steering system.

I know...it is just a piece of plywood but this was what we used for bench testing. All the components have been removed and assembled onto the vehicle so it is good to see it blank.

Rear motor drive test with a test motor wired up.

Components being assembled on vehicle.

Grant making a connection box for a component.

Som students soldering the wire connectors to our controller. They need to be 7 feet long so we can reach the different motor drivers on the vehicle.

Test video of linear actuator being tested for steering.

Work Day 5.23.16

Work Day on AV

Date: 5.23.16
Time: 9:35-11:05 AM
Location: Logan HS
Students: Clare, Theo, Isaac, Zach, Michael and Oscar
Goal: Get the main motor drive online so it can be controlled by transmitter. Also, fabricate shielding for the controller and and work on our wireless Live View System.


We took the class period to work on the AV. The good news is the main drive is working and paired with our transmitter so it can now be controlled. We also took some copper PCB board we are using for shielding and cut out holes for velcro strips to secure it.

We are getting closer all the time. Today was a big day because the main drive is now functional. Now for the steering. We have the hardware in place except for a little bit of wiring. The software has to be configured for a left turn (we believe we have the right turn down). If that works we are ready to test on the vehicle.

Looking toward Wednesday when we hope to finish up with our steering test and then move all the components onto the vehicle for final wiring and systems test.

Students working with Dave Foye on main drive interface.

Theo cutting out and fabricating shielding materials.

Main drive interface

Short video showing the transmitter controlling our test drive motor.

Work Night 5.18.16

Work Night

Date: 5.18.16
Location: Logan HS
Time: 4:00-7:30 PM
Goal: Test out the main drive interface.
Students: Grant and Killian

We really have been working on the software and hardware solution for the main drive (MD) interface. Friday, Grant spent about 3 hours on Friday looking over the software trying to find a solution to the PWM signal problem we have. Not much luck looking at Pixhawk forums for Rover configuration details and 3DR does not have technical support (call in) for converting your Pixhawk to a rover. We need a hardware solution.

The MD interface tested out well on the Oscope after a few bugs were worked out. We now can adjust to approximately a 5 V  high and we can adjust to a low. This process took a couple of hours to work out and that is just for the MD. Then we have to look at a solution for the steering.

We found an Arduino option that has an Arduino filter and convert the signal to a binary output which we can use. Much easier than hardware if we can configure the output signal. We will work on that over the next couple of days to see if it works.

We wanted to get more of the components onto the vehicle but we were unable to because of the software MD problem we were having. Sometimes it seems like we take two steps forward and one back but that is troubleshooting.

Next week we will have more time to work on the vehicle and hopefully get everything on the frame and wired.

More components added to frame

Our main drive interface

Testing the MD interface with Pixhawk

Testing steering and main drive interface

Notes on main drive interface

Test board is getting congested with added components