Embedded Motion Control 2014 Group 9: Difference between revisions
| Line 68: | Line 68: | ||
* 20 June: Maze contest | * 20 June: Maze contest | ||
== | ==progress week 2== | ||
-progress and format was discussed. Tasks were divided. For the corridor competition we need a set of four functions, all with input the laser data,(first increment starts at the left), output and type given, extra output possible for future extensions (as separate function) | -progress and format was discussed. Tasks were divided. For the corridor competition we need a set of four functions, all with input the laser data,(first increment starts at the left), output and type given, extra output possible for future extensions (as separate function) | ||
---- | ---- | ||
Corridor detection: CL, CR (type bool) true if a corridor is at ~90deg left/right of pico | Corridor detection: CL, CR (type bool) true if a corridor is at ~90deg left/right of pico. Laserpoints on left and right are scanned and when value becomes large, this implies corridor. | ||
-> Jordi | -> Jordi | ||
| Line 81: | Line 81: | ||
-> Koos | -> Koos | ||
Result: library implemented, have not been able to test yet. 2 function created for area | Result: library implemented, have not been able to test yet. 2 function created for area reconnaissance. One for translating laser data into coordinates, another to relate that data to straight driving objective of pico | ||
---- | ---- | ||
| Line 97: | Line 97: | ||
Combining in main() | Combining in main() | ||
-> Joost | -> Joost | ||
==progress week 3== | |||
The code written for the corridor competition was written and tested. Even though the code functioned very well in the simulator, it did not function on the real pico. Corridors on the left were taken without problems but right corners were ignored. Pico detected the right corridors well, and also took the decision to turn right. However the right turn command was not executed properly. After reordering the code, the right turns were taken fine. | |||
Revision as of 12:19, 19 May 2014
Team members
| Name | Student # | Remark | |
| Koos Elferink | k.elferink@student.tue.nl | 0716494 | |
| Joost Potma | j.potma@student.tue.nl | 0864146 | |
| Jasper Spanjaards | j.j.a.spanjaards@student.tue.nl | 0746039 | |
| Jordi van Dijk | j.v.dijk@student.tue.nl | 0805981 | |
| René Bruintjes | r.f.bruintjes@student.tue.nl | 0877139 |
Planning
Week 1
- Installing Ubuntu
- Installing ROS
- Installing SVN
- Follow tutorial C++
Week 2
- Install Qt-creator (IDE)
- Group meeting to make a start on the project
- Test robot with standard script
- Test robot with added self made script parts
Week 3
- Group meeting (goal: finish corridor script)
- Second test on robot (test script)
- Corridor contest (16 May)
Week 4
- Group meeting (goal: maze solving strategy)
- Make proper software architecture with nodes/topics
- Start writing arrow dectection algorithm
Future
- 20 June: Maze contest
progress week 2
-progress and format was discussed. Tasks were divided. For the corridor competition we need a set of four functions, all with input the laser data,(first increment starts at the left), output and type given, extra output possible for future extensions (as separate function)
Corridor detection: CL, CR (type bool) true if a corridor is at ~90deg left/right of pico. Laserpoints on left and right are scanned and when value becomes large, this implies corridor. -> Jordi
Driving: Vx, Vy, Vz (etc) -> straight, safe, and aligned driving. Also steering towards corners/endstops -> Koos
Result: library implemented, have not been able to test yet. 2 function created for area reconnaissance. One for translating laser data into coordinates, another to relate that data to straight driving objective of pico
Corner: Vx, Vy, Vz (etc), override -> action when CL or CR is true, overrides driving function -> Rene
end: Vx, Vy, Vz (etc), exit -> for stopping after finish -> Jasper
Combining in main() -> Joost
progress week 3
The code written for the corridor competition was written and tested. Even though the code functioned very well in the simulator, it did not function on the real pico. Corridors on the left were taken without problems but right corners were ignored. Pico detected the right corridors well, and also took the decision to turn right. However the right turn command was not executed properly. After reordering the code, the right turns were taken fine.