This week I worked on getting UWB trilateration working, and my goal is to have it finished tomorrow. I also helped get the motors / H-Bridge and the IMU working. I also helped with soldering a lot more pin headers to all of our components, so we now have almost all the physical components together, we just need to start soldering to the PCBs and to solder some of the buck converters to the other battery connectors. We also did some basic integration testing where we wired up both the IMU and TFLuna together and ran them both at the same time. Both are connected to the ESP32S3 on the same GPIO pins to communicate over I2C. Lastly, I finally was able to figure out how to get ROS working on my groupmates’ computers so that they can now run the micro-ROS agent on their systems.
We are on schedule, but tomorrow the group as a whole needs to spend a lot of time together to ensure we are ready for the interim demo and that our systems are in a good spot to show off.
Next week I hope to complete locationing for the survivor tag, which will involve having one non-anchor UWB board being tracked in 2D space, and then having it also range with an AirTag or other UWB board to act as the survivor tag, and then produce the location of the tag by inferring position relative to the non-anchor or tag board.