Group members: Ravi Woods, Piotr Pomienski, Chan Bingjie and myself
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 ).
- 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
- 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
- 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
Here:
80:1f:02:af:5e:1c
The RPI IP lookup page is Here