WORK ACCOMPLISHED
This week marked significant progress in multiple areas of the project. I successfully achieved individual motor control by leveraging Python’s threading module, assigning each motor to its own thread for independent operation. To test this setup, I developed a simple interface that allows motor control using keyboard inputs to simulate signals from the skateboard’s remote control app. Additionally, I implemented an emergency stop routine to ensure the motors and VESC can be safely shut down in case of unexpected issues. I also improved the motor control logic by rewriting the command structure to support reverse motion, enhancing the skateboard’s maneuverability.
With individual motor control established, we conducted our first turning tests in the space between Scaife and TechSpark. Initial results were underwhelming, but after switching to a shorter deck and tightening the trucks, we achieved consistent performance. These adjustments provided the stability needed to proceed confidently with further testing.
Beyond motor control, I integrated functionality for reading GPS data from the ZED-F9R breakout module. I also incorporated a library to convert latitude and longitude coordinates into UTM (Universal Transverse Mercator) format, enabling path-planning calculations in meters on an x-y grid. This advancement will be instrumental in refining our return algorithms.
PROGRESS
While I am on track with my software-related tasks, the overall progress on path-planning and return functionality has fallen slightly behind schedule. This delay is due to several factors, including challenges with the LiDAR integration, underestimating certain technical hurdles, and delays in part deliveries. Despite these setbacks, our motor control system and GPS integration provide a strong foundation for the next phase.
NEXT WEEK’S DELIVERABLES
Next week, our primary objectives are twofold:
- Integrating the remote control app: This will involve syncing the app’s signals with the motor control system. To facilitate this, I’ve prepared a brief README outlining the unique aspects of our motor control setup.
- Initiating return algorithm testing: Using the GPS and motor control framework, we will begin testing the skateboard’s ability to autonomously return to the user.
These tasks will bring us closer to achieving the project’s core functionality and ensure we remain aligned with our overall timeline.