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 was primarily on spring break but in my free time I did more research about integration the Jetson with the Photon. I was able to find some sample code for both sending and receiving data between the two modules, and I have been looking at personalizing it 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…
This week, Dan presented our Design proposal and we received feedback on the design. Overall, the feedback focused on future calibration issues and a need for more quantifiable testing methods. We are working to incorporate said feedback into our design report and are all focused on it, due this coming Read more…
This week I focused on figuring how the Particle Photon will transmit data over WiFi to the NVIDIA Jetson Nano and how the Jetson will control the servo motors in the Moebius omnidirectional wheel base. The Photon and Jetson will be placed on the base, both powered by a portable Read more…
In this past week, I have had had several items to focus on. The immediate priority coming out of last week was to prepare for my design review presentation. Then as soon as that ended, my focus shifted to implementing the Kalman filter and running various sanity checks on the 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…
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…