Team Report
This week, we worked on the integration plan. Previously we believe the integration is one of our last parts. We want to have our software ready and then we could implement them with hardware. We received suitcase and battery from Quinn and started our integration. Our integration consists of three parts: sensor integration, suitcase structure modification and circuits. The first part is mainly installation of the sensors such as camera and IMU. The second part is dissemble the suitcase and replace with the Omni wheels and motors. This may also need 3D priniting. The last part is the installation of the battery.
Elias is working on fixing the camera and locating the camera so that the camera could face up and capture the human. He is also working on the motion planning part. Our goal is to locate the target and generate the coordinate of the target in 2 dimension. And the motion planning algorithm will give us the curvature and the angle based on the IMU data.
Zhiqi is working on the integration plan of IMU and motor. We are facing two problems. One of the problem we have right now is the battery. We are using jetson board to compute everything. In order to make sure it is safe, jetson will not allow any drop in the battery power. Meanwhile, if we run the motor, the motor may draw the power and cause the jetson to shut down. We may consider add another power bank or battery just for the motor. Another problem is the communication between Jetson board and the motor. Jetson board may not be able to communicate withe the encoded motor just through the pwm. We may need to add an interface I/O to it. We are currently thinking of USB and CAN bus.
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