ME310 Project Repository

Welcome to the ME310-Volvo 2023 Project Repository!

This is the final code stack for our ME310 project: bio-inspired sensor cleaning system for Volvo's autonomous vehicles.

Project Diagram

Here is a diagram illustrating the project architecture:

Overview

The repository contains several key Python and C++ scripts, used for integrating various sub-systems together running on a RaspberryPi. The key sub-systems here are:

• Teensy/Actuators
• MQTT/WebApp
• Camera Server + Droplet Detection

Key Components

• main.py: Starts the main application, takes vaious arguments as inputs, however, defaults are initialsed.
• Controller.py: Initialises RaspberryPi GPIOs (for interrupt handling in Teensy), and connects to Teensy via Serial.
• Mqtt.py: Handles MQTT messaging for real-time communication with the dynamic Web Application.
• camsv.html and camsv.py: Hosts a Video Server (for Web Application) and an Image Sever (for Droplet Detection).
• video_feed.cpp: A C++ file which uses OpenCV for droplet detection.
• cpp.py: Wrapper for running the compiled droplet detection C++ file and communicate with the main application.

Teensy Folder

The teensy folder contains teensy.ino (embedded C), for the Teensy microcontroller, it handles interrupt on one of the pins used as a "fail-safe" layer, and sends speed command to the two ESCs controlling BLDC motors for blower and visor.