Design State:
The main thing completed this week was the transition from theoretical design to physical assembly and software modularity. Adrian rebuilt the navigation logic into a testable, frontier-based 2D simulation stack (handling LiDAR, frontiers, target selection, and navigation), replacing the older BFS algorithm.
On the communications side, Brooks set up microROS and ROS2, demonstrating that we can publish data from the ESP32S3 to a ROS agent over WiFi. He also booted the new Qorvo DWM3001CDK UWB modules using the “UCI” firmware, confirming our approach to Two-Way Ranging. With the arrival of almost all our parts, Josh began physical hardware integration, mapping out connections and crimping battery connectors to prepare for full assembly.
Risks:
We encountered a hardware risk: upon inspection, Josh realized the chosen H-Bridge requires a 5V control input, making it incompatible with our 3.3V ESP32. We are mitigating this by pivoting to a new component. Fortunately, this specific setback does not immediately impact the critical path, as there is sufficient other wiring and driver development to complete while we wait for the replacement.
Schedule Changes:
Despite the strain on the hardware integration path and the H-Bridge pivot, progress remains steady and on schedule.