Classes - Beard

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Division of Labor

Each team should assign two team members to work on the hardware and two team members to work on the software. The team's goal during the first 5 weeks should be to design, build, and program a working system. The hardware team members should collaborate to accomplish all of the hardware tasks. The software team members should collaborate to accomplish all of the software goals. Team members with similar assignments but from separate teams should also collaborate to help each other so that every team has a working robot. After the end of the first 5 weeks, the team's goal should be to improve and perfect their robot so that it can compete with other robots.

  • Team Member 1: Hardware - Mechanical System.
  • Team Member 2: Hardware - Motion Control.
  • Team Member 3: Software - Vision (OpenCV).
  • Team Member 4: Software - System Architecture (ROS).

Hardware - Mechanical System

The main task will be to design the physical robot to meet the size constraints. Help order parts, connect the electronics, work out the details of the communication system, and ensure that the robot remains functional throughout the semester.

MILESTONES:

  • Week 1: Obtain all electronics and parts from CB 416. Begin researching on different robot materials (acrylic, plexiglass, aluminum, 3D printing) and shapes (triangle, semicircle, and hexagon). Ask team members and look on wiki (see past teams and hardware Powerpoint) for design ideas.
  • Week 2: Design robot with feedback from other team members. Cut out robot base from chosen material. Learn how to charge robot batteries and use voltage regulator. Obtain required battery connectors and other needed parts from CB 416.
  • Week 3: Build robot. Collaborate with Motion Control team member to mount motors, motor drivers, and control boards on robot. Together create a sturdy electrical design that reduces the risk of shorts and disconnected wires.
  • Week 4: Collaborate with Vision team member to design and assemble vision jersey.
  • Week 5: Successfully complete skills competition.
  • Remaining weeks: Complete assignments as directed by team.

Hardware - Motion Control

The main task is to develop all motion control algorithms, and low level primitives for the robot. The quality and precision of the algorithms should improve as the semester progresses.

MILESTONES:

  • Week 1: Obtain motors, motor drivers, and control boards from CB 416. Collaborate with Mechanical System team member to image the Raspberry Pi and SSH into it (see wiki for details).
  • Week 2: Bidirectional serial communication from Raspberry Pi to the PSoC. Ability to spin motors using PWM and PID commands. Consult materials from wiki (powerpoint, diagrams, and PSoC informtation) and TA for help.
  • Week 3: Collaborate with Mechanical System team member to mount motors, motor drivers, and control boards on robot. Together create a sturdy electrical design that reduces the risk of shorts and disconnected wires. Ensure that none of the motor connections are switched using python script on wiki.
  • Week 4: Use Dr. Beard's omnidirectional robot diagrams to solve for matrix M and using this matrix be able to move robot at commanded linear speed v, and angular rate omega.
  • Week 5: Successfully complete skills competition.
  • Remaining weeks: Complete assignments as directed by team.

Software - Vision (OpenCV)

The main task is to ensure that the robot knows its own state (position and orientation), the state and orientation of the other robots, and the position and velocity of the ball.

MILESTONES:

  • Week 1: Collaborate with ROS team member to install ROS Desktop version and get Gazebo simulation to run. Start learning how the gazebo simulation uses OpenCV to find the locations of the robots.
  • Week 2: Collaborate with ROS team member to implement one offensive and one defensive strategy on simulator.
  • Week 3: Ability to perform color segmentation and mixture of Gaussians (MOG) background subtraction. Help ROS team member finish coding simulator strategies if needed.
  • Week 4: Vision jersey designed and assembled. Working system in ROS that communicates the position of the team robots, opponent robots, and the ball.
  • Week 5: Collaborate with ROS team member to use vision estimates to control robot. Get robot to be able to smoothly travel to center of field in preparation for skill competition.
  • Remaining weeks: Complete assignments as directed by team.

Software - System Architecture (ROS)

There are two tasks. The first is to ensure that all elements in the system can communicate with each other. The second is to ensure that the overall software architecture is well structured.

MILESTONES:

  • Week 1: Collaborate with Vision team member install ROS Desktop version and get Gazebo simulation to run. Begin learning how the gazebo simulation uses ROS.
  • Week 2: Collaborate with Vision team member to implement one offensive and one defensive strategy on simulator.
  • Week 3: Successfully compete in simulator competition using several different offensive and defensive strategies.
  • Week 4: First thin thread: Install ROS on the Raspberry Pi and get bidirectional communication between the Raspberry Pi and desktop computer.
  • Week 5: Collaborate with Vision team member to use vision estimates to control robot. Get robot to be able to smoothly travel to center of field in preparation for skill competition.
  • Remaining weeks: Complete assignments as directed by team.