The Little Car that Could

Michael Dooley, Brian Lablanc, Joshua Phelps, Enrico Vittori

We want to create a basic remote controlled car that communicates environmental impedance back to the driver. The goal is that this car can communicate difficulty/ease while driving up/down hills, and let the user know when the car is “blocked” by a wall. We’ll be using a differential joystick controller for this task, with a differential drive system.

We’ll be experimenting with position-driven controls and velocity-driven controls to determine the best user experience.

All code can be found on Github.

Introduction -- WIP

Explain the motivation for your project in terms of the educational objectives and why your haptic device is an appropriate approach.

Background -- WIP

Explain the relevant prior work in the field of haptics and provide references. These will likely be different from the references in your project proposal. Make sure to do a thorough literature search on relevant haptic devices/application.

Methods -- WIP

Provide a detailed description of your project, such that another student from the class could generally re-create your project/experiment from the report if necessary. (You don't need to document every screw, but the design should be clear.) Add images and videos as needed to support the description. You can refer to downloadable drawings and code in the "Files" section (later). You should divide this section into subsections, which can vary depending on your particular project. Here is an example set of subsections:

Hardware Design and Implementation -- WIP

System Analysis and Control -- WIP

Demonstration / Application -- WIP

Results -- WIP

Describe the results, which may include qualitative responses from users at the open house.

Future Work -- WIP

Describe how your system could be tested (e.g., through experiments if you have not already done so), how it can be improved, and how it might be applied.

Acknowledgments -- WIP

Here you can list any individuals or groups who helped you with your project. (e.g., another student in the class, a course assistant, or an especially helpful PRL TA). Optional, so delete this section if you aren't using it.

Files -- WIP

Code and drawings should be linked here. You should be able to upload these using the Attach command. If you aren't willing to share these data on a public site, please discuss with the instructor. Also, in this section include a link to a file with a list of major components and their approximate costs.

References -- WIP

List the referenced literature, websites, etc. here.

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Appendix: Project Checkpoints

Checkpoint 1

Here you will write a few paragraphs about what you accomplished in the project so far. Include the checkpoint goals and describe which goals were met (and how), which were not (what were the challenges?), and any change of plans for the project based on what you learned. Include images and/or drawings where appropriate, using a command like this:

Michael

Designed / 3D printed / laser cut mounting / brackets for controller. Initial bracket design is too low to the ground; brackets will be extended (see third figure below) to allow user to 'grasp' controller wheels all around.

Figure C1.1. Top view of controller

Figure C1.2. Close-up of controller

Figure C1.3. Revised bracket model

Brian

Did mechanical assembly for the car frame including mounting motors as well as the battery. No issues so far; the car is in a testable state.

Figure C1.4. Isometric view of car assembly

Figure C1.5. Car battery installation

Joshua

I tested software for wifi communication, motor control, and encoder reading. I electrically connected the motors and encoders, and I made 3d printed parts for connecting magnetic encoders to motors. We’re using this software template for esp32-based robots https://github.com/rcmgames/rcmv2. We’re using these circuit boards https://github.com/RCMgames/RCM-Hardware-Nibble.

Figure C1.6. Car electricals

Enrico

Software controls: Calibrated motors, Implemented preliminary unilateral position to position and position to velocity control. So far, no issues. Code: https://github.com/ME327-2026-team1.

Checkpoint 2

Here you will write a few paragraphs about what you accomplished in the project so far. Include the checkpoint goals and describe which goals were met (and how), which were not (what were the challenges?), and any change of plans for the project based on what you learned. Include images and/or drawings where appropriate.

Example Video: https://www.youtube.com/watch?v=i_aLBql4Ufo