I started the week by working with Dan to detect ball release using the gyroscope angular velocity y from the second IMU (on the finger). A throw is detected if this value is smaller or equal to -5. We determined this threshold through experimentation. We don’t want the threshold to Read more…
This past Thursday we had a simulation meeting in which Hana showed us what she had. Since, she was having trouble with calculating the predicted landing location of the ball, I took over the simulation. I was able to make a simulation with basic functionality. The simulation shows the 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…
I started the week by completing the Kalman filter tutorials I was planning on doing. I finished watching all the Michel van Biezen Kalman Filter tutorial videos I mentioned last week (https://www.youtube.com/watch?v=CaCcOwJPytQ&list=PLX2gX-ftPVXU3oUFNATxGXY90AULiqnWT&index=1) and also went over the Kalman filter code on GitHub that Dan initially used as a template for Read more…
Because of the COVID-19 outbreak, we now need to work on the project remotely. As a result, I spent my time this week working with my teammates to rescope the project. We have decided to keep the IMU I2C circuit component on the arm and to simulate the rest of Read more…
This week, I determined that we will be using C++ to program the Jetson Nano. The reasons for this are the following: -C++ is compatible with the Jetson Nano -C++ is the language used to program the Particle Photon so this would make the networking between the devices easier -C++ Read more…
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…
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…