For the past 2 weeks I prototyped and finished making the launching subsystem. It was very rewarding to finally be able to shoot a ping pong ball out of the cannon (even though at the beginning it was going at a very high speed). I don’t really see many possible issues with our final bit of integration, something I was worried about at one point was how difficult it would be to move the pipe around, but after talking with Simon I am confident it won’t be an issue.<\/p>\n
No major design changes this week. It is however, worth noting that we ended up only needing a thicker tube to fire the ping pong ball, so the problem we had firing the ping pong ball was indeed due to the resistance of the tube.<\/p>\n
I also finished the cup detection. I take several 3d coordinate pictures (with the LIDAR), project these onto the plane that is perpendicular to gravity and then convolve a circle onto that image to get out the cup locations. Visually this works very well but I am having trouble extracting the precise cup location and will be finishing that up later tonight.<\/p>\n
I’ve worked a bit on collecting data for ball detection and cup detection and am going to continue doing that next week. Next week I also plan on collecting data for the launching subsystem.<\/p>\n
I had to learn a lot of stuff about piping and air pressure for this capstone project and I found a lot of useful websites explaining how to do projects that are similar to ours. But ultimately, I found a blog post explaining pressure and flow in terms of voltage and current and that proved to be very intuitive for me. I also learned a lot through trial and error of different computer vision algorithms for cup and ball detection. Something else I learned was how to apply my mathematical skills to write code that necessitates it (the ball dynamics and cup projection were especially enjoyable for me to finish).<\/p>\n
No schedule changes this week and we will be focused on testing and integration for the rest of the semester.<\/p>\n","protected":false},"excerpt":{"rendered":"
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