This week, our team focused on finalizing our subsystems as well as starting integration. Not having the motor control board was a blow, but we still have our backup plan of direct connecting the battery to the launcher. Outside of directly connecting the battery to the launcher we experienced little to no design changes. During integration between the CV and the Motor Control, we found that we our robot wasn’t turning well either overrotating past the POI or rotating very slowly. In order to counter this we decided to implement PID control. We also while testing found that running pose estimation when there were multiple people in the room caused a lot of latency. In order to counter this we implemented the temporary solution of capping the amount of people that we’d perform pose estimation on. We also realized that when actively targetting someone the latency that would come from running pose estimation on the target could interfere with our control, for that reason we decided to cut pose estimation once a target was found.
Our unit testing so far has been focused on making sure the CV is accurate by manually following our codes turning commands and seeing if our launcher is in line with our POI. The test we are currently running consists of the same except with the PID control fully controlling our launcher as the integration testing of our old linear turning algorithm failed.