The robot car chassis hasn’t arrived yet so no work was done with it. Instead, I spent time learning how the IMUs work and how to extract data from them. I first researched different i2c libraries for the MPU-9250 (IMU) and found an MPU-9250 i2c library for the particle photon, Read more…
The team’s focus this week was on determining the necessary variables towards creating a comprehensive design document. Daniel focused heavily on the specifics of the Kalman filter, Luca spent his time learning how the IMUs work and how to extract data from them and Hana looked into the specifics of connecting Read more…
This week, I focused mainly on determining the specific requirements of implementing a Kalman filter for our IMU data. I looked exhaustively both at articles explaining the functionality of the filter and at possible existing libraries that I could base an implementation off of. What I learned is that the Read more…
This week we had some issues ordering the mobile base we wanted, so Dan and I did some digging to find an alternative quickly. We then took a deeper dive into the system architecture and I focused on looking at how the MPU 950 will be connecting to the Particle Read more…
I looked into different omnidirectional robot car chassis models. We decided to use a model with four wheels rather than three wheels because we think that a model with four wheels will be easier to control. Additionally, the motors of the four wheel models we found have a greater rpm Read more…
As a group, we discussed the many different available options for a motorized base for our device. We settled on this kit as well as this one and ended up buying the cheaper first option which cost $82.99. From SparkFun, we also ordered six IMUs for use along the arm and hand of Read more…
Over the course of the past week, I did a lot of research with regards to different options involving the base of our motorized device, its wheels, and power source. At first, we played around with the idea of constructing the base ourselves, but having consistently respondent and changing power Read more…
This week, I focused on two main issues: deciding on which omni-wheel chassis to use and narrowing my research on how to extract position from IMUs. For the omni wheel decision, Luca and I met with Professor Mukherjee and eventually decided on a 4 wheel chassis from Moebius. I’m currently Read more…