- Accomplishments for the week:
- Over the last two weeks, I worked individually on multiple software components and worked with the team to test out some of the hardware.
- I created a more rigorous test to make sure the algorithm returns the optimal path, but it wasn’t optimal at first. I debugged and fixed the multiorder algorithm, as there was an internal hashing function for the robot’s partial state that was colliding and causing some states to not be visited in the calculation.
- I started on the GUI for the emergency operator and the user, and combined it with the ground station (multiorder node) so that the GUI can place orders for a ground station to send to a simulated robot.
- The emergency operator GUI has a camera feed and takes in joystick controls to send to the robot, and the user GUI can take in and send orders to the ground station.
- Working with the team, I helped out with the robot FSM, and based on that I redesigned the multiorder node/ground station to match the interfaces that the robot now requires.
- I worked on figuring out how to calibrate the Adafruit IMU on the Jetson, and helped Advaith with RTABMAP/network testing outdoors with the Jetson.
- Progress:
- Currently I am on-track, despite our waiting for the Roboclaw to arrive- instead, we worked on software to balance out our progress.
- Next week’s deliverables:
- When the Roboclaw arrives, we have to make sure that the ground station can manually drive the robot around the campus.
- I’ll continue to add more features to the GUI, and make sure that the ground station works in production.
Carnegie Mellon ECE Capstone, Spring 2021 | Michael Li, Sebastian Montiel, Advaith Sethuraman