Embedded Motion Control 2018 Group 8: Difference between revisions
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== Escape Room Competition == | == Escape Room Competition == | ||
For the Escape Room Competition, a simple | For the Escape Room Competition, a simple algorithm was used as code. This was done so that the groupmembers without many C++ programming experience could get used to it while the more experienced programmers already worked on the perception code for the Hospital Competition. Therefore, the code used for the Escape Room Competition was a little bit different than the initial design because the aimed perception code was not fully debugged before the Escape Room Competition so that it could not be implemented in the written main code for the Escape Room Competition. | ||
=== Perception === | |||
For the perception of the world for PICO, a simple space recognition code was used. In this code, the LRF data is split into three beam ranges. A left beam range, a front beam range and a right beam range. Around PICO, two circles are plotted. One is the ROBOT_SIZE circle which has a radius so that PICO is just encircled by the circle. The other circle is the MIN_DISTANCE_WALL circle which has a bigger radius than the ROBOT_SIZE circle. For each of the three laser beam ranges, the distance to an obstacle is checked for each beam, and the lowest distance which is larger than the radius of the ROBOT_SIZE circle is saved and checked if it is smaller than the radius of the MIN_DISTANCE_WALL circle. If that is true, the value TRUE is given to the corresponding laser beam range, else the value FALSE is given to that laser beam range. This scan is done with a frequency of FREQ, and by each scan, the previous values are deleted. | |||
== Hospital Challenge == | == Hospital Challenge == | ||
Revision as of 09:29, 30 May 2018
Group members
| Name: | Student id: | |
| Srinivasan Arcot Mohanarangan (S.A.M) | s.arcot.mohana.rangan@student.tue.nl | 1279785 |
| Sim Bouwmans (S.) | s.bouwmans@student.tue.nl | 0892672 |
| Yonis le Grand | y.s.l.grand@student.tue.nl | 1221543 |
| Johan Baeten | j.baeten@student.tue.nl | 0767539 |
| Michaël Heijnemans | m.c.j.heijnemans@student.tue.nl | 0714775 |
| René van de Molengraft & Herman Bruyninckx | René + Herman | Tutor |
Initial Design
The initial design file can be downloaded by clicking on the following link:File:Initial Design Group8.pdf.
A brief description of our initial design is also given below in this section. PICO has to be designed to fullfill two different tasks, namely the Escape Room Competition (EC) and the Hospital Competition (HC). When either EC or HC is mentioned in the tekst below, it means that the corresponding design criteria is only needed for that competition. If EC or HC is not mentioned, the design criteria holds for both challenges.
Requirements
Functions
Components
Specifications
Interfaces
Escape Room Competition
For the Escape Room Competition, a simple algorithm was used as code. This was done so that the groupmembers without many C++ programming experience could get used to it while the more experienced programmers already worked on the perception code for the Hospital Competition. Therefore, the code used for the Escape Room Competition was a little bit different than the initial design because the aimed perception code was not fully debugged before the Escape Room Competition so that it could not be implemented in the written main code for the Escape Room Competition.
Perception
For the perception of the world for PICO, a simple space recognition code was used. In this code, the LRF data is split into three beam ranges. A left beam range, a front beam range and a right beam range. Around PICO, two circles are plotted. One is the ROBOT_SIZE circle which has a radius so that PICO is just encircled by the circle. The other circle is the MIN_DISTANCE_WALL circle which has a bigger radius than the ROBOT_SIZE circle. For each of the three laser beam ranges, the distance to an obstacle is checked for each beam, and the lowest distance which is larger than the radius of the ROBOT_SIZE circle is saved and checked if it is smaller than the radius of the MIN_DISTANCE_WALL circle. If that is true, the value TRUE is given to the corresponding laser beam range, else the value FALSE is given to that laser beam range. This scan is done with a frequency of FREQ, and by each scan, the previous values are deleted.