Embedded Motion Control 2014 Group 9

Team members

Name	E-mail	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)
• Function to make Pico drive straight through the maze. (Koos)
• Make proper software architecture with nodes/topics (Joost/René)
• Start writing arrow detection algorithm (Jordi/Jasper)
• Measure laser distances during pico test

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.

Simple parallel wall driving

A simple way is implemented to drive parallel next to the wall.

The distance to the wall is measured in at an angle of 45deg left (a) and right (b). If the distance become below a threshold than pico will rotate in opposite direction as long as there is the wall (or other obstacle) within it's range.

progress week 4

This week we started with designing the proper framework for the different Ros Nodes and Ros Messages. Each node has a specific function and a predefined interface.