Documentation - Voravomas/smallCarProject GitHub Wiki

Project and the main goal

Our project is related to the self-driving car. The main goal is to make a car drive by its self. For example: to make it drive through the maze or to make it follow.

Details, that we were given

The list of all the details for the one car:

  • 4 dc motors: working voltage: from 3V to 12 dc (recommended working voltage from 6 to 8V)
  • rangefinder HC-SR04
  • L298N Motor Driver
  • 3 LI-ion batteries(3.7 V each)
  • Bluetooth module HC-05(ZS-040)
  • Infrared speed sensor L393(encounter, which can be used to calculate speed)
  • STM32F411E-Disco
  • Car body
  • 4 Wheels
  • 3 Line sensors LM393

Scheme:

What have we done:

  1. We make the car drive by pressing the button on the STM. We connected engines and STM to the motor drive, and connected the power(batteries). It had 5 states: forward, back, left, right, stop
  2. We connected the Bluetooth module to the STM and connected the phone to this module. From the Bluetooth terminal app on the phone, we were able to send commands to the car, by simply pressing buttons.
  3. We connected the rangefinder to the STM in order car can define obstacles on its way and prevent bumps.
  4. We can read the speed of the car, using a speed sensor.
  5. Our car follows the black line(either drawn or made from insulation tape) without any outer control.

What do we plan to do:

  1. Radio(as an alternative of the Bluetooth)
  2. Mobile application with different modes, such as control from a phone, "follow the line", "escape from maze".