The vehicle now has a new power distribution board located in the back behind the motors. It also has the electronics and sensors mounted. The top and sides have been covered with a thin sheet of polycarbonate to protect against rain water.
Categories: Chassis, Control Systems, News Updates, Power, Sensors |
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These past few weeks the software development team has been preparing for the project presentation day. The following requirements have to be met in order to reach our goal of having a qualifying robot for the IGVC.
Making sure the Control Center (CC) and joystick work on the laptop which will be used during the [...]
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Today we successfully implemented a joystick into our GUI for manually controlling our vehicle. We were also able to stream joystick data to our cRIO which then can be processed into motor commands. Here is a screenshot of our GUI recognizing the Joystick and streaming it’s data.
Categories: Control Systems |
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In our last update on Driving with Tentacles we got the tentacles calculated but we still needed to calculate the classification area for each tentacle. Classification area is the area that our vehicle will be covering as it drives along the tentacle. In order to choose the correct tentacle to drive by we must know [...]
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Throughout the research for path calculation methods the team came across various ways of calculating paths including very untraditional one, using tentacles. This method of path calculation was invented by Felix von Hundelshausen, Michael Himmelsbach, Falk Hecker, Andre Mueller, and Hans-Joachim Wuensche and first used applied at both the C-Elrob (European Land Robot Trial) 2007 [...]
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We were able to map the LIDAR data received from the cRIO into our own MAP structure. This is one of the first steps to path planning and it is very exciting that we are almost there. The map is currently in the coordinates of the robot and the next step is to translate it [...]
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One of the IGVC challenges is to implement JAUS and be able to respond to various queries from the judges main station. Since JAUS provide a comprehensive communication environment between different components of the system we decided to use it as the main software architecture for our robot. JAUS library came with an example code [...]
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Here is a rendering of our final vehicle design!
Categories: Chassis, Control Systems, News Updates, Power, Sensors |
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We recently finished the control process for our front wheel! Since the front wheel is a steered caster, its angle is dependent upon the speed of the rear driven wheels. We are using a DC motor controlled by a PID algorithm to set the steer motor to the correct angle. We finished implementing the software [...]
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In the past week we successfully implemented motor control functionality on the NI cRIO. As a test, we set up a small motor with an encoder on a bench. We used the FPGA in the cRIO to read in the encoder values and run a PID control algorithm to control the speed of [...]
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