Day 4
Tested both DC motors independently using the ESP32 WROOM-32 and L298N motor driver.
Evaluated both Bluetooth and WiFi protocols for communication between the two ESP32s (transmitter on hand, receiver on car). Bluetooth connectivity was unreliable, the devices struggled to pair programmatically. Switched to WiFi where the receiver ESP32 acts as a soft access point (hotspot) and the transmitter connects to it directly. Successfully confirmed data transmission from transmitter to receiver over UDP.
Collected raw ADC readings from the AD8232 EMG sensor for each muscle state: relaxed, weak flex, and strong flex. Analysed the data to determine the mean, min, max, and amplitude (range) for each state:
The mean value is nearly identical across all three states, making it an unreliable classifier. The amplitude (max − min) is the key differentiator between states.
Based on the collected data, rigid amplitude ranges were defined for each state:
Settled on a rolling window of 50 readings sampled at 100ms intervals. At each step, amplitude (max − min of the window) is computed and matched against the above ranges to determine the command sent from transmitter to receiver.
We worked on the CAD model of our robot car using FreeCAD. We designed the vehicle enclosure (cover) that will house and protect the internal electronic components. The enclosure has been modeled and is ready for 3D printing in the next phase of development. In addition, we created the main structural components of the car, including the chassis and other supporting parts. Designing these components in FreeCAD allowed us to customize the dimensions and layout according to our project requirements.
electronics-.testing.of.motors.mp4
