Team Six/Journal

Revision as of 23:14, 16 January 2015

Day 0, Jan 5

• • Successfully located the third floor of the IDC building and created this wiki page.
  • Set up our Edison board and created a playing field in Solidworks.
  • Github repo created.

Day 1, Jan 6

• • Members received shop training.
  • Basic prototypes of ball collection mechanisms.
  • Work with OpenCV

Day 2, Jan 7

• • Everything is broken
  • Board is broken
  • Power Supply is broken
  • Multimeter to test power supply is broken
  •  :(

Day 3, Jan 8

• • Everything is still broken
  • Test some sensors with an arduino.
  • Create a makefile that can compile all code together
  • Play with opencv
  • Cads cads and prototype

Day 4, Jan 9

• • Board is still broken
  • Ultrasensor,motorcontroller, short IR, ultra short IR tested!
  • All the wires are a mess. Lets try to standardize them. Red power, *black* ground, *Blue*/purple signal (Sensor ->Board) in, *white*/gray signal out (BOARD -> sensor)

Day 5, Jan 10

• • Board is still broken
  • Saturday!! We had pizza at the lab
  • We discuss the organization for the code.
  • Motor encoders tested and functional!
  • Wires are kinda organized

Day 6, Jan 11

• • Sunday. No Lab today. People coding alone.
  • Skeleton code!

Day 7, Jan 12

• • WE GOT THE EDISON BOARD
  • Strategy meeting with the staff!
  • Code architecture meeting with the staff!
  • New ideas about how to lift the blocks: Use only one movement! No need to lift and then spin
  • First prototype of the top sorting mechanism!
  • Code for the ultrasonic sensor and IR sensors pretty much finished.
  • Most of the electronics have very neat wiring now.
  • Multithread seems to be a real possibility now!
  • We can calculate our distance to a wall using the camera!

Goals for the next couple of days:

• • More prototypes
  • Finish PID control, and sensors, and change code from arduino to C++
  • Bring in cookies sometime

Day 8, Jan 13

• • GOT THINGS DONE!

CODE:

• • All sensors code written (except color sensor, because we don't have it yet
  • A sensor module thread written!
  • Simple PID written!
  • PwmUtils written!
  • Simple motor class and actuator written

Mechanical:

• • Worked on a 4 bar linkage system for the robot arm
  • Decided positions of the sensors
  • prototyped sorting mechanism

Day 9, Jan 14

• • Gyroscope is working!
  • Prototorotypes of the sorting mechanism and columns
  • Proportional control for speed written, tested and discarded
  • infinity bugs everywhere fixed
  • Cleaned up the code for image processing!
  • Exited the lab at 1:45

Day 10, Jan 15

• • Driving mechanism works!
  • Torque limiter for the wheels written, so that they don't slip
  • Integration of encoders with driving to tell distance
  • Test of proportional and derivative gains
  • Drive in a straight line!
  • The robot can now go backwards
  • Angle precision of ~1 degree on the driving code
  • Threshold for the minimum pmw for the motors, so that they can always move
  • Angle error tolerance and position error tolerance
  • Learning how to use the color sensor

Day 11, Jan 16

• • Encoders now give the distance in inches
  • Gains independent of the size of the wheeels
  • Antisocial robot test written.
  • The robot can go backwards!
  • Learning how to use the color sensor

Objectives for the day: Get the color sensor working Add a state machine to the motorscontrol to have a limit in what can be the angle of turning when it is moving Add way points on the motorcontrol code (using relative radial coordinates) Play with localization code