This past week was spent continuing the integration effort, this time with the Ultra96 instead of the Kria. After discussing with Professor Kim, we decided to pivot to the Ultra96 after it became clear through discussions with AMD that setup for the Kria would require many more steps. Thus, we decided to stick with what we know better given the short timeline that we have left.
Pivoting to the Ultra96 means we will no longer be doing perception nor kinematics on the same device as motion planning/RRT. Perception will be done on a laptop, and perception data will be sent to the Ultra96 over UART. Only RRT will be done on the Ultra96, and the tree data will be sent back to the laptop, will develop a motion plan using A* (our prior troubles with A* will not be an issue here since it will be done in software). The motion plan will then be passed to our kinematics module.