Accomplished
This week, I worked on prototyping the MPU6050 to ensure that we can still get yaw, pitch, and roll values for it over I2C. After prototyping this, Enrique integrated the MPU6050 with the current Glove Kontroller that already has the ESP32 communicating over SPI with the ICM20498.
I also worked on generating different types of feedback on the haptic motor controller over I2C. I experimented with different waveforms that were already implemented on the controller, and manually tried to generate my own waveforms. Some important waveforms we may look into for the mapping between Kar motion and haptic feedback include ramp up/down and strong buzz feedback.
Progress / Schedule
I am on track as I have finished prototyping my subsystems (IMU + haptic motor controller), and will be working with Enrique to integrate the haptic feedback and fine-tune Kar control.
Deliverables / Next Steps
Next week, I will:
- implement the MPU6050 on the Kar and come up with a good mapping between the Kar IMU’s gyroscope values and haptic feedback.
- fine-tune Kar control.