Week 1

The objective of the first week was to study the basic assembly tools of the GME program and learn how to create a metamodel. We were also given examples and tutorials to help us become more familiar with the GME program.  

• We also discussed finite state machines and assembly language.
• We used GME to generate various C++ codes.

Week 2

During the second week, we began working with PID controllers and implementing equations into our modeling system. We first started modeling with basic equations to establish a general understanding of the project.

• We used MATLAB to begin modeling our system.
• We studied the dynamics of car systems.
• Using mathematical equations, we established modeled systems for the wheel dynamics of our car.

  For next week we plan to...

  1. Continue studying the dynamics of our car.

Model the dynamics of the car chassis in MATLAB.

Week 3

The main objective of the third week was to finish the chassis as well as the wheel models. We also started on the circle trajectory and will continue to enhance this equation and implement other shapes using similar equations. 

• We coordinated both models with the PID Control.

For next week we plan to...

1. Map out trajectories for the car.
2. Change the gains on the controller.
3. Put an equation for a straight line trajectory.

Week 4

This week, we began working with the VZSoft and VZAnalyzer software. Our mentor, Peter gave us a standard procedure tutorial guide to help us become familiar with this software. We use the software to pick up signals from the remote control car. VZAnalyzer software is basically controlling the coordinate system of the car.

• We attempted to run a simulation using the software but had technical difficulties.
• We did practice runs with the car using the remote control
• Finished up the straight line trajectory and circle tracjectory

For next week we plan to...

1. Get the QNX server up and running so we can complete a simulation
2. Research the dynamics of car drifting

Week 5

This week we worked on completing our presentations for Friday the 29th and Tuesday the 2nd. We also worked on our midterm report which is due Tuesday.

• Created and presented an 10 min. presentation for ISIS
• Played around with the car model by tweaking the gains in PID

For next week we plan to:

1. Continue working on Tuesday's Powerpoint presentation and report.

Week 6

This week we completed our midterm paper and presented a powerpoint presentation on Tuesday for ISIS. 

• Performed a brief study on the Ziegler-Nichols PID tuning method
• Researched car drifting dynamics

For next week we plan to:

1. Complete a line trajectory simulation

Week 7

During week 7, we finished developing our line trajectory. After experimentally testing the line trajectory we noticed that car is capable of following a given path with a set speed, and stopping at a final location. We are so excited! We are now in the process of designing a PID controller for a turning angle.

• Design a model that will calculate error for a turn angle
• Model a converter to output car signal data such as velocity and angle from the PID controller
• Keeping a log book to keep track of various behavior performed by the car

For next week we plan to:

1. Continue tweaking our car for the finest results
2. Updating our log book
3. Start on our circle trajectory simulation