Accomplishments
This week, I set up the motor controller code to not only function, but move our robot forward controlled by a user input on the laptop. I began to integrate the code for moving our robot chassis left, right, forward, and backward, and have begun figuring out how to ensure our robot can make 90-degree turns.
I looked into remote controls for our robot and have purchased the part so that instead of the current model, where the user controls how the robot moves by pressing a keyboard button or a button on screen, they will be able to use a remote control with a joystick to control the robot instead.
Since the robot is moving, I began looking into writing the code for our LiDAR camera. After discussion with the team, we have decided that we will move forward with using the camera to enable our HVAC engineer to see as much of the duct that they can. Since we have scoped our project down to get rid of mappings, this is much easier.
Some of the videos aiding me this week were:
youtube.com/watch?v=gJPIJ3yxME0&t=79
Mahati has also been working on the solenoid tapper and I helped her a little bit in the development with the code for the tapper.
My work this week has mainly been on Github and can be found here: https://github.com/aphadke234/ece_capstone_C7
Schedule
I am on schedule now and currently on track. The interim demo deadline is in 2 weeks or so and I am feeling confident about having a robot that can move through a duct, and classify defects at some level. I am a little behind on building the HVAC duct for our demo however.
Next Week
Next week, I plan to prioritize integrating the machine learning model on our Jetson Orin Nano with the current motion robot controls. I will also finish integrating the LiDAR camera with our robot so the user can have real time visual feedback. I will finish building our duct system for the interim demo using 5 to 6 ducts, and then I will offer help to Mahati with the solenoid tapper as well as data collection from the duct.