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robot_soccer:2017:tasks [2016/09/07 09:18]
supersolver [Software - Vision (OpenCV)]
robot_soccer:2017:tasks [2016/12/24 11:40] (current)
supersolver
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 MILESTONES: MILESTONES:
-  * Week 1: Obtain motors, motor drivers, and control boards from CB 416. Collaborate with Mechanical System team member to image Odroid ​and SSH into Odroid ​(see wiki for details). +  * 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 Odroid ​to Roboclaw. Ability to spin motors using PWM and PID commands. Consult materials from wiki (powerpoint,​ diagrams, and roboclaw manual) and TA for help.+  * 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 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 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.
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   * 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 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 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 background subtraction. Help ROS team member finish coding simulator strategies if needed.+  * 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 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.   * 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.
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   * Week 2: Collaborate with Vision team member to implement one offensive and one defensive strategy on simulator.   * 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 3: Successfully compete in simulator competition using several different offensive and defensive strategies.
-  * Week 4: First thin thread: Install ROS on the Odroid ​and get bidirectional communication between the Odroid ​and desktop computer.+  * 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.   * 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.   * Remaining weeks: Complete assignments as directed by team.