This week, I focused on helping with integration for the interim demo. The Raspberry Pi 5 came on Wednesday, so for the rest of the week, I focused on getting it set up with WiFi and the Micro SD card . The Raspberry Pi will connect all the components together, such as the UWB connection and the LiDAR, and communicate that to the Teensy for motor commands. We plan to set up the Raspberry Pi in headless mode by ssh-ing into it, since we only plan to program on it, but we are running into some issues with the WiFi.
In terms of progress, we are still behind in the Gantt Chart but most of the work from here is integration, which I will work with my teammates to get done. We have a slack week which will hopefully be enough for us to catch up on all work before the final demo. Next week, I hope to have the Raspberry Pi completely set up with all the code necessary running on it.
For verification of the subsystems that I have been working on, I created a simulation to ensure that the pathfinding algorithm was working as expected and made sure to set a 2 feet distance from the shopper in the code. I plan to do more extensive testing for the obstacle detection when we integrate the LiDAR with the motors by marking a circle with a 1-foot radius around an obstacle and having the user walk in the direction of the obstacle while having the cart avoid the marked area. For the mobile app, we kept the user interface simple, with only 2 different pages to ensure that the app was intuitive to use. Finally, we tested how long it took for the product details to populate in the app once the barcode scanned, and it was under 500ms.