This week, I worked on fixing the encoders. I tested the encoders and found out that half of the encoders don’t work. I believe this is due to accidentally frying them when I was first testing them, and I plugged the power into the ground and ground into power. Since the internal encoders are broken, I decided to scrap using encoders for this project due to the upcoming final demo and because the encoders are built into the motors, meaning I would need to order new ones, which would likely not come in time or leave me with little to no time to integrate them into the project. I also helped other teammates with their work, such as helping with testing for the UWB direction, understanding the LiDAR test code, and integrating LiDAR obstacle detection into the project for initial testing.
From this project, I’ve learned how to use Arduino microcontrollers, expanded my knowledge of embedded systems, and learned new technical details such as how LiDAR sensors work, Apple frameworks, and pathfinding. These skills were learned through researching them online, watching tutorials, and extensive debugging.
Overall, I am a bit behind compared to the Gantt chart. Luckily, due to the allocated slack week and the Thanksgiving break, I will be able to dedicate myself to progressing the project so that it can be ready for the final demo. In this upcoming week, I plan on doing the final wiring for the robot, attaching the shopping basket to the robot, and helping with final testing.