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Imperial CO333 Robotics Course
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3_2.1_On_Off
3_2.2_Sonar
5.2
5.3_distance_rotation
5.4_square_drive
PID_Tuning_Logs
images
logs
old_server_dir
server_dir
.motor_.swp
.motor_position_example.py.swp
.motor_velocity_example.py.swp
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README.md
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distance_turn_w_pid.py
motor_position_example.py
motor_velocity_example.py
pid_tuning.py
pwm_adjust_minpwm.py
timertest.py
ultrasonic_example.py

README.md

GROUP PROJECT

Group members: Ravi Woods, Piotr Pomienski, Chan Bingjie and myself

LOG EVERYTHING YOU DO HERE

14th Nov - Piotr, Loci - Edited inital particleDataStructures.py to begin implementing likelihoods

15th Nov - Piotr, Bing, Ravi - Finished Lab 3 ex 2 & ex 3 in particleData.py. Video https://www.youtube.com/watch?v=xzzpS3yD7CY&feature=youtu.be

16th Nov - Piotr, Bing, Ravi, Loci

  • Assessed lab 3 (full marks :neckbeard: :bowtie:).
  • Cleaned up server_dir - new file names, old code in old_server_dir [Ravi]
  • Wrote sonar turn function (done), and absolute sonar turn function (needs calibration) in server_dir/robolib.py [Ravi]
  • Wrote initial plan for signatures in server_dir/createLocationSignatures.py [Ravi]
  • Added 360 degree sonar motor [Piotr]

18th Nov - Piotr, Bing

  • Made motor spin by 360 degrees, in increments of 10 degrees, and create signature of sonar scans from it
  • Created code to store location signature in .dat file

19th Nov - Piotr, Bing, Loci, Ravi

  • Compare signatures reliably
  • Create and compare a signature to a known signature while turning, at an n degree interval

20th Nov - Bing, Loci, Ravi

  • Lost Hope

25th Nov - Bing, Loci, Piotr

  • Got fast_characterize_location to work more accurately
  • Learning location now does multiple fast scans
  • Learning function has measurement for almost all angles from 0-359 in steps of 1 degree
  • Takes average of all non-255 readings for that specific angle
  • Defaults to 255 if there are no non-255 readings present
  • Implemented the code to locate bottles, yet to be tested

TODOs for Object Finding Challenge

  • Characterize location at n degree intervals while turning motor
  • Implement turn_poll using velocity function
  • Tune PID for all 3 motors
  • Make signature comparison angle invariant
  • Reliably work out where obstacle is
  • Get points of 3 bottles
  • Add square walls for 3 bottles
  • Boop bottle and move afterward
  • Move between bottle positions and get back to Waypoint 1 using MCL

TODOs

  • Tune angle turning on carpet
  • Tune distance moving on carpet
  • Write sonar turn function in robolib.py
  • Added timer for motor movement, to speed up movement
  • Add turnable sonar sensor
  • Write function to create a location signature (characterize_location) in createLocationSignatures.py
  • Write function to compare two signatures (compare_signatures) in createLocationSignatures.py

MAC of the PI

Here:

80:1f:02:af:5e:1c

The RPI IP lookup page is Here

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