Personal Accomplishment
What did you personally accomplish this week on the project? Give files or photos that demonstrate your progress. Prove to the reader that you put sufficient effort into the project over the course of the week (12+ hours).
- Accelerometer setup (6 hrs): I spent time working together with my partners setting up the accelerometer that arrived late. Initially, we were trying to get it connected with I2C to the RPi4. However, due to some undetermined issue, the connection via I2C was never detect by the RPi though we made sure we were using the correct GPIO pins, and that all setting for I2C on RPi4 was properly enabled. Therefore, we switched to SPI and rewrite the code that reads the accelerometer output. Luckily, we were able to get it to work with desired readings.
- Radar software setup (6 hrs): I spent time fine tuning the radar together with my partner. We built our code on top of an existing starter code for the KLD7 radar. We added a plot of obstacles detected so help us tuning and understanding the data. We mainly worked on understanding and fine tuning the radar parameters such as FoV of reading, max speed of object to be detected, and distance for detecting. One thing worth noticing is that the KLD7 is only able to detect obstacles with relative speed. In other words, objects might seem to “disappear” from the radar is relatively static. To overcome this, we figured out that the radar does have some extent of memory (the “HOLD” parameter) where it is able to continuously report the detection for certain period of time.
Schedule
Is your progress on schedule or behind? If you are behind, what actions will be taken to catch up to the project schedule?
This week, I am on schedule with all systems set up done. I am now in the process of doing unit test and tuning for the radar together with my teammate.
Upcoming Deliverables
What deliverables do you hope to complete in the next week?
- More radar tuning for obstacle detection based on obstacle magnitude and obstacle message generation.