讲解 Embedded System Lab讲解 R编程

Embedded System Lab

1 Project Goal

The goal of the final project is to navigate the Boe Bot car with LaserPING and QTI line following kit.

2 Schedule

3 Demo and Submission

1. Demo time/date: 2:00-6:00pm, June 4th, 2025

Each student can use 6min to demo their final project.

Please book your demo time at the blackboard (first come first serve).

You can demo multiple times as long the 6min time limit is not reached.

After allocated 6min is used up, please demo on June 11th, 2025 with a 10% discount.

Students should use the demo time slot to explain the tasks for the BB Car and finish the actual demo in time. In case that demo cannot be done on 6/4, patch demo can be graded by TAs between 6/5 and 6/11 (inclusive) with appointment. All patch demo will be taken 10% off of the score. The attendance and presentation of project is required on 6/4 even if a patch demo is needed. No appearance on 6/4 on time in class will result in 20% off the final score.

2. Submission date: June 11, 2025

1. Please submit your codes (with Readme) and pdf report to eeclass.

The Readme file should explain how to setup and run your program

The pdf report should include your map design and discussion on challenges of BB Car navigaions.

4 Project requirements

1. Please design a complete task for a BB Car navigation.

2. Both B-L4S5I-IOT01A and DISCO_F769NI will be used. 

3. In the project, please use MQTT, QTI line following kit, and LaserPING.

4. Please navigate BB Car on a map.

1. Use QTI sensors to follow black lines of the map.

2. Please include at least one circle (page 10 or 11), one branch (page 7). one turn (page 4 and 5), and one curve pattern (page 6, 8, or 9) in the map.

1. Design at least one pattern of your own to replace one of above track pattern.

2. Download the printable tracks from parallax.com or archive.org. Ensure your map contains at least 4x4-16 of these printable track papers.

3. Circle in a map means that there is a route for BB car to start from an original location and go back to the same location.

4. A branch can be in any Y or X shape.

5. Please do not work on the same map as other students. The map design is part of the final project and it is highly related to the program design.

3. Please design different markers to indicate the turn in next branch. For example, when BB Car sees a marker with a pattern of 0111, it will choose to turn right in the next branch. Please design the map with markers such that the BB Car will eventually reach a final destination, which is also marked by a special marker. Note that we do not store a map on the mbed memory. All navigation tasks are handled by mbed controller dynamically.

5. Please create and use MQTT services of status of BB Car during the navigation to F769. For example, we can collect current information of accelerators. Please use the information to estimate the travelled distance and compared with Feedback360 and actual map route.

6. Please design a user interface at F769 to display the information of BB Car. And in the case of problems, e.g., BB Car is stuck at a place, you may use F769 to remote control the BB Car and return to the course for automatic navigation.

7. Please place multiple objects or obstacles on the map and use LaserPING to detect obstacles dynamically and navigate to avoid the obstacles. For example, if there is no branch between BB Car and an obstacle, BB Car will go in reverse to the last branch.