Accomplished
This week, I started integrating the haptic motor controller on the glove controller. Since both the haptic controller and the MPU6050 communicate over I2C, I had to ensure that both worked individually after porting over the code and checking that they worked together as well. I worked on translating IMU speed to haptic buzz intensity while Enrique worked on crash detection on the Kar.
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:
- implement a mapping between the Kar IMU’s gyroscope values and haptic feedback.
- fine-tune Kar control.
- help bring up firmware on the glove PCB.
New tools and new knowledge
For bring-up of the STM32 development environment and STM32 board itself, we watched Youtube videos of people setting up on STM32CubeIDE and enabling peripherals such as FreeRTOS, I2C, and bluetooth. Whenever we ran into compiler or code errors, we also consulted STMicroelectronics Community Forums in case developers had run into similar issues before. For development on the ESP32, we utilized a lot of pre-existing packages and libraries made by developers on ESP-IDF, which helped to confirm the functionality and save time when implementing our IMUs and motor controllers.
For the IMU, I looked at a lot of resources online (Youtube, GitHub, websites) regarding how we can sample IMU data effectively with FIR and Kalman filtering, and how we can calculate the yaw, pitch, and roll using different algorithms, such as the Madgwick Filter.