This week, I worked on fixing the encoders. I connected the raw motor wires to DuPont-style wire connectors, allowing them to establish a better connection with the breadboard. I wrote a program that utilizes the encoder’s interrupts to calculate the speed and direction of the robot. Unfortunately, I found an issue where only one of the AB phase encoders works; thus, I need to conduct further testing to determine if this issue is specific to one motor or all of them. I also helped other teammates with their work, such as reading into the UWB direction issue. I also worked on the interim demo, ensuring the robot was ready for its first showcase to the world!
In terms of verification for the robot subsystem, I have been extensively testing individual components such as motors, encoders, and communication between microcontrollers or from a microcontroller to a computer. In the upcoming weeks, the robot subsystem will hopefully be fully verified.
Overall, I am a week behind compared to the Gantt chart. Due to the encoders not working properly, I will spend the first half of next week working on them. If the issue persists or the encoders don’t work by then, I will turn my focus to other aspects of the project, such as LiDAR integration, to help make faster progress in time for our final demo.