Embedded Motion Control 2014 Group 6
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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
- 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 |
