I worked on selecting the microcontrollers that will control the motors and host the software side of the project, including the web app and LiDAR mapping. During this research, I gained a deeper understanding of the various specifications and performance capabilities that microcontrollers are designed to handle. I ensured that the microcontrollers I selected would meet the sensor and computational requirements of the project. I decided on using the Teensy 4.1 for the low-level motors and encoders, since it supports real-time feedback and low latency. I also decided on the Raspberry Pi 4 for the more computationally expensive and less time-critical tasks, such as the LiDAR mapping, obstacle detection algorithms, and web app.
According to the Gantt Chart, I am still on track to meet the fully fleshed-out hardware aspect of the design report in roughly two weeks.
Next week, I hope to pick out the specific sensors, such as the motors + wheel diameter, LiDAR sensor, etc. I will look at multiple industry standard options, weighing things like compatibility, cost, and torque, to determine which ones best meet the requirements of this project.