Progress
- IMU for haptic feedback loop added to Kar.
- Begun reading roll from the IMU on the Kar.
- Finished prototyping the glove so the Kar successfully steers and drives from two IMUs connected to the ESP32.
- Implemented logarithmic scaling for the IMU to steering PWM values.
verification/Validation
End-to-end latency measurement
- Ensure that the latency of a command originating from the ESP32 to the receiving STM32 is less than our use-case requirement of 50ms.
- This will be done by timing how long it takes to send a GPIO command to toggle an LED from the ESP32 to the STM32.
- The metric being measured is how many milliseconds it takes between an LED lighting up on the glove and an LED being lit up on the Kar. May conduct 20 trials, success is quantified on end-to-end latency <50ms on 95% of the runs.
Control scheme viability
- Verify intuitive control and real-world usability with users navigating an obstacle course.
- Ten or more participants will navigate a classroom obstacle course, and we will log collisions and collect subjective Likert scores.
- Average Likert score >4 for comfort and intuitiveness, and the collision rate needs to be below an acceptable threshold (<1 collision per run).
Entering the safety/reset state
- Ensure the Kar enters the safe idle state within 50ms on communication loss or reset.
- Forcefully disconnect Bluetooth communication or power to the Kontroller during operation and measure stop time using an oscilloscope or motor motion.
- Success is quantified by the Kar successfully entering idle within 50ms in 95% of trials, may conduct 20 trials.