Week 6

This week Karl has created a method for collecting data from a python simulation of the robot's controller, and demonstrating the control of the robot on a the previously simulated matlab simulation animator. By doing this, time does not need to be allocated in determining how to create a similar animator in python.

Karl has also begun organizing a group of functions, provided by Dr. Isenberg, such that they will filter data retrieved by the robot's inputs and outputs (voltages and odometry) and determine the necessary kinematic parameters for the robot. This data will help Jaya complete his controller so that it can then be implemented in python and tested on the real system. While Jaya is completing his work on the controller, Karl will be finishing his work in developing the filtering program.

Gabe and Haris are in the final stages of detecting the edge of the sidewalk reliably. They are now waiting for the platform to be completed in order to refine the filtering based on camera position and robot motion.

In the meantime, the vision team has begun developing camera calibration code and a strategy for implementing the edge detection data into the control system being developed by Jaya and Karl. This will likely result in using the vision system to generate a local trajectory for the robot to follow. Though methods of performing localization with respect to a campus map have been considered.

Tanner and Jason have mounted all the battery mounts, added rubber to them to help secure the battery, and attached the strap that will hold the batteries in place. They aligned and mounted the encoders down to 1/100th of an inch. They have also cut more pieces for the intermediate section and also started to design the heat sink that will act as a tensioner for the motors and chain. Finally, they created a part for Patrick to fabricate.

Next week, Tanner and Jason will design and finish building the heat sink and tensioner. They will also be finishing up the attachment of the locomotion system. They are going to apply bondo to the edge of the base and sand it down to a smooth surface.

Trent Wargo and Bridgette have continued testing and improvement of the H-bridge circuit.