Accomplished
This week, I worked with Enrique to implement logarithmic scaling for IMU control on the glove. Previously, we had linear scaling which gave us too much precision at lower angles, which is where the motor deadzone was. This means that it was harder to start the motor at lower speeds. To resolve this issue, we applied a logarithmic function so that movement is more “snappy” at low inputs and gradual at high inputs.
We also worked together to enable the BNO055 IMU on the STM32 on the Kar over I2C. This required enabling I2C on the STM32 and writing up a driver to read the IMU inputs to be converted into roll.
Progress / Schedule
I am on schedule to completing the MVP. Enrique and I have begun working together to integrate haptic feedback and the Kar IMU.
Deliverables / Next Steps
Next week, I will:
- come up with and implement a good mapping between the Kar IMU’s gyroscope values and haptic feedback.
- fine-tune Kar control.