Aaron Swenson
Samuel Farnsworth
Derek Stewart
Craig Call
Overview
Previous Action Items
• Mechanical:
• Complete robot design
• Build second robot
• Vision:
• Robot and ball detection
• Kalman Filter implemented
• Controls:
• Implement PID control
• Speed and distance controlled commands (move to any point)
• AI/Architecture:
• ROS setup and communicating between systems
• Implement 1 offensive and 1 defensive play
Milestones Acheived
• Mechanical:
• Complete robot design
• Build second robot
• Vision:
• Robot and ball detection
• Kalman Filter implemented
• Controls:
• Implement PID control
• Speed and distance control commands (move to any point)
• AI/Architecture:
• ROS setup and communicating between systems
• Implement 1 offensive and 1 defensive play
Difficulties Faced
• Build second robot:
• Still working on first robot, parts have not yet arrived.
• Improve design before replication
• Kalman Filter implemented:
• Camera specifications kept changing
• Distance control commands :
• PID Controller took longer to complete than anticipated
• Implement 1 offensive and 1 defensive play:
• High dependency on Vision
Schedule
Schedule continued...
Schedule continued...
Schedule continued...
The following tasks do not have a set start date or duration:
•
Maintain code base (Sam)
•
Optimization (Sam)
•
Debug algorithms (Sam)
•
Refine Vision (Derek)
•
Perform routine maintenance (Aaron)
Program Status
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●
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●
Mechanical
○ Reworked robot frame
○ Added wiring for encoder feedback
○ Easy battery/power cord switching
Vision
○ Color identification algorithm working
○ Tracking ball and robot position (cm) and orientation (d
Controls
○ Implemented velocity controller and trajectory tracker
○ Designed M-matrix (rotational matrix) logic
AI/Architecture
○ ROS up and running on robot and base station
○ Refactored code base for easier use
○ AI library code base started
Program Status - New Robot Frame
Bottom Layer
Middle Layer
Top Layer
Action Items
● Mechanical
○ Rework component placement, including replacing breadboard with
vectorboard
○ Update power connectors to make the system more stable
● Vision
○ Remove fisheye effect from video
○ Track shapes in addition to color
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Action Items continued...
● Controls
○ Implement path planning and basic motor controls
○ Thoroughly test current control architecture
● AI/Architecture
○ Complete AI library and play strategies
○ Implement Kalman filter
○ Implement path tracking and prediction
Questions? Comments?