This week, I made a significant stride in binging the project closer to completion. My first task this week was to add in the second IMU from which we tell the release point. I was having trouble getting the AD0 pin to change the address of one of the IMUs, 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 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, 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…
During this week, like many teams, we dealt with the heavy consequences of CMU’s closure due to COVID-19. For me, this meant figuring out how to re-scope my portion of the project (writing Kalman filters for the IMUs placed on the user’s arm). Although our team decided to keep the 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…