Embedded Motion Control 2014 Group 6

Wout Laarakkers 0828580

Rik Boonen 0805544

Dhruv Khandelwal 0868893

Suraj Prakash 0870060

Hans Reijnders 0806260

Planning

Week 1 (2014-04-25 - 2014-05-02)

• Installing Ubuntu 12.04
• Installing ROS
• Following tutorials on C++ and ROS.
• Setup SVN

Week 2 (2014-05-03 - 2014-05-09)

• Finishing tutorials
• Interpret laser sensor
• Positioning of PICO
• having ore first meeting

Week 3 (2014-05-12 - 2014-05-16)

• Programming corridor competition
• Corridor competition

Week 4 (2014-05-19 - 2014-05-23)

• Creating basic structure for programming in Ros
• Planning
• Dividing tasks

     * Drive node: Dhruv Khandelwal
     * Decision node: Hans Reijnders, Rik Boonen
     * Arrow node: Wout Laarakkers

• Programming individual parts

Week 5 (2014-05-26 - 2014-05-30)

• Programming individual parts
• Testing parts
• Integrating parts

Week 6 (2014-06-02 - 2014-06-06)

• Programming individual parts
• Testing parts
• Integrating parts

Changes in group

Unfortunately Suraj Prakash has decided to quit the course, because he doesn't has enough time.

Corridor competition Software design

Software design

Structure

The first draft of the structure of nodes and topics is shown below.

The integer 'situation' and 'action' have certain values corresponding to different cases. These cases are defined as shown below.

Situation
1	Detected corridor
2	Detected dead-end
3	Detected corner right
4	Detected corner left
5	Detected T-crossing (right-left)
6	Detected T-crossing (right-straight)
7	Detected T-crossing (left-straight)
8	Detected crossing
9	Unidentified situation

.

action
1	Stop
2	Straight
3	Right
4	Left
5	Turn around
6	Follow left wall
7	Follow right wall

Taking corners