This past week I moved a bit away from the simulation and focused my efforts on calculating trajectories for any data that I have been given from the IMUs. First I have set up some constraints on the data. For instances such as where the angle in the Z (vertical) Read more…
This week, Dan and Luca worked on transferring from the Arduino to the Photon. Dan successfully got the Photon to work, however, Luca had hardware issues for a prolonged period of time so he decided to keep using the Arduino. Luca’s I2C connection on the Arduino remained unstable so he Read more…
This week, the main new issue for me to conquer was the addition of the Particle Photon. Although we’re still having some trouble getting the hardware to work on Luca’s end, I’ve been able to make some good progress with respect to getting the Photon to wirelessly transmit data. I Read more…
This week I have spent a significant number of hours dealing with hardware issues. I received my Photon this week so I attempted to set it up to use instead of the Arduino but was unsuccessful. The first issue I ran into was simply setting up the Photon. For some Read more…
I started the week by researching gyroscope Kalman filter implementations. However, we decided to change our approach to mapping IMU raw data to points in 3d space. Dan was having trouble removing drift from the IMU data and, after looking for a fix, he found a potential approach that uses Read more…
This week I’ve been working on the Processing simulation aspect of the project. The current design is to take the X,Y, and Z components of the angle and velocity vectors of the ball, along with the height as shown below. Then with the given inputs produce two different views of Read more…
This week, team B4 explored other options for 3D IMU positioning as Hana continued parallel work on the Processing simulation. On the 3D positioning side, Daniel looked into using Madgwick’s AHRS algorithm in order to determine IMU rotation and remove the earth’s gravity from 3D readings. Using this algorithm in Read more…
This was an extremely involved week for me as I tried to improve the functionality of our Kalman filter. Upon running numerous tests on 2D data of the IMU moving across my desk, I couldn’t seem to entirely remove the traces of drift and gravitational error present in my data. Read more…
This week we decided that it would be best if I would focus on building the simulation part of the project. This is due to the fact we didn’t need all three members working on the Hand motion sensing aspect, and since Luca and Dan had a much better grasp Read more…
This week, my focus was on implementing the accelerometer portion of the Kalman filter and debugging issues related to bias drift. Right now, I’m working on getting the Kalman filter to report a steady absence of movement when the IMU sits still on my desk. I’m getting close but I Read more…