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 [...]
Categories: Control Systems |
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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 [...]
Categories: Control Systems |
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After weeks of practice the mechanical team is well into welding the actual frame together. The picture above shows the set up where we are TIG welding. The frame is welded into several larger sections right now and once the machining of the wheel tabs is finished we will weld them on and put the [...]
Categories: News Updates |
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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 [...]
Categories: Control Systems, News Updates |
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Over the weekend, on the 20th and 21st, the team made serious headway on chassis fabrication. The chassis team members have been practicing TIG welding aluminum for several weeks, as none of the chassis team members had ever welded aluminum before. With that experience under their belts, they were prepared to start fabricating the final [...]
Categories: Chassis, News Updates |
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Over the past few weeks, we have been experimenting with GPS data in preparation for the IGVC Navigation Challenge. As part of our research, we recently went out to the football field at WPI and took our own GPS data using a Sokkia Axis Differential GPS receiver. We took approximately 15 minutes worth of stationary [...]
Categories: News Updates |
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This Tuesday we received our motors and wheels and had a chance of checking whether our blueprints were correct or not. Good news, they were. While our mechanical engineers are building the frame of the robot our software and electrical computer engineering teams are trying to get all the sensors working. Combining all of the [...]
Categories: News Updates |
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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 [...]
Categories: Control Systems |
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