What I personally accomplished this week:
This week, I continued work with Justin around the robotics kit and chassis, where we decided on the Hiwonder Tank Chassis Kit. After we settled on the kit, I began looking at first and 3rd party projects that used the kit. My math for the battery size needed lines up with what they needed for 1 hour of operation: 2200mah.
Last week’s outstanding deliverable was finding a battery for the vehicle. I have finished that. We will be using 2 separate batteries: a 7.4V one for the Motor and a 12V one for the KR260 and Arduino. I also added an H-bridge to the design, which is a rather embarrassing oversight.
With the completed parts list, I began on the CAD model of the physical design. I hoped to be complete with it to remain on schedule, but the chassis has a surprisingly sparse amount of 3-dimensional information. A lot more additional work has had to be done to be able to properly represent it.
I also spent time learning about the KR260’s software stack and how we are going to integrate everything. I have no experience with ROS2, and am trying to get myself up to speed. I found these to be very useful for that.
https://youtu.be/0aPbWsyENA8?si=MZzz1h8PobvCQmXA
https://youtu.be/Se5pvRlTX8s?si=UA6VJxq1sKDpnBYE
Finally, I spent time learning about setup and configuration of our odometry sensor and how to use the data it gives so that we can properly integrate it into our whole system.
Progress relative to schedule:
Slightly behind schedule in terms of completion of CAD model of system, but just by a small amount.
Deliverables for next week:
- Begin setup of KR260 to match Justin’s once we get it from ECE inventory.
- Complete CAD design.
- Order parts
- Continue with software setup and coding for odometry.