This week was a bit of a mess in terms of progress, I should have gotten more done on the hardware side but instead was drawn into working with Mario on the calibration. We have been having some issues with getting the calibration and motion tracking down. I said last week that my goal for this week was to do the PCB work (I wanted to place an order), but I am far from being ready to do that unfortunately. I have been focusing my efforts on IMU calibration work.
We are fighting issues with bias and drift of the IMU. I made a script to visualize the movement of the IMU, but the path it drew was a bit weird and so that led us to investigate the gyroscope and accelerometer data individually. We have a working live visualization of the gyroscope and are working on setting up the same thing but for the accelerometer. We want to then record on our phone the IMU moving 10cm and then track that against what our code predicts and use that to calibrate the IMU. This was something we did not foresee being a big challenge, but it has ended up being a good bit of work.
I am falling behind on the PCB development. The plan is to focus on getting the calibration and motion tracking working well for the demo on monday and then once that is going well I will leave Mario to carry that on and do more of the other metrics we wanted to track and I can go back to working on the PCB.
I don’t have any blockers right now apart from dealing with the IMU calibration issues.
