Team Six/Journal
From Maslab 2015
Contents |
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