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P11216: Wandering Campus Ambassador (part 6)
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MSD 2 Meeting Minutes

===3/11/2011===

* Primary focus
* Installing servos and sonars (first priority)
* Installing pump-reservoir-sprinkler
* Miscellaneous small things
* One of the chains needs to be reset
* Reliability testing
* How easy is it to swap between the game pad and the software
* At the moment, not very easy.
* Nick and Anna want to be able to test the robot using the game pad
* Getting mileage on robot is important, but priorities are set right.
* Working on getting remote computer
* Rui-priorities?
* Testing; make sure it’s tested and functional
* Adding temperature sensors
* MSP430s have temperature sensors, so that’s the top case
* Add two of them to the gear boxes
* Testing sonars - they didn’t work correctly (Done by next week)
* Nick has other sonars that can be used for testing and code while we wait
* Ken-priorities?
* Making sure sensors are properly done
* MSP430s-need to surface mount chips
* Surface mount lab in CIMS (Jeff Lonavil will help)
* Rui and Ken should go over
* Most of programming can be done on virtual system
* Need at least two weeks or so to integrate from the virtual system onto the physical robot
* Each wheel is being controlled individually
* One wheel moves slightly faster than the other
* Can be controlled and fixed via software
* Can things be demo’d to the rest of the team now?
* Moving
* Diagnostic mode by end of next week
* Talk to Terra before throwing away any of the shell

===3/18/2011===

* Buy bump sensor for the back
* LCD display (If we want to buy our own)
* 4 servo motors (to have two backup motors)
* 2 temperature sensors
* About two more hours of work
* Adapt Justin’s code to work
* Encoders? Or just plant sensors and navigation sensors?
* Doesn’t contain it right now, but it can
* Tested range
* You can dynamically take measurements
* Move servo, stop servo, take reading
* Sonar
* GPS
* Compass
* IR
* Don’t need encoders as far as we can tell
* Use for turning and moving straight
* Loosely incorporate the encoders (feedback control loop for more detail)
* Test mechanical motor loading to be convinced that they’re working the same
* Put up on jack stands (and see the rate at which it spins)
* Use encoders and plot it (maybe startup/backlash)
* She’ll fabricate the additional plant holders
* Meet with her next week to determine exactly where they’ll go
* Doesn’t work properly
* It was tested, still isn’t working properly
* Look at schematic on beagleboard
* 3.3V regulator; see if the spike is still on the beagleboard
* If it’s filtering all the way through, then we need to get rid of it and get something else
* Put a meter right across the battery, and see if it’s dropping there
* Happens when things is changing; capacitor or diode might need to be right at the motor
* Might need to look at H-Bridge (P10215 built it; see if there are built in suppression diodes)
* Old regulator didn’t have that problem
* If it can’t be figured out, get rid of it, and use some other converter
* Problem might be reset line on beagleboard
* Check supply to the beagleboard and reset lines tied down
* Happens occasionally
* Happened frequently this morning
* Charging battery now; maybe that will alleviate the problem
* Look for another DC to DC converter (Rui) and see if there’s a better converter
* Troubleshoot some more

===3/25/2011

* One of the wheels rotates a little bit faster, but not enough to deviate the robot
* As long we’re not going from forward to backward, it should be okay.
* Need pins for the harnessing (don’t have them yet)
* Have everything for the sonars
* See Ken Snyder to get wire crimps (bigger connector for pumps (5amps);
* Ken Snyder has a wire-wrap tool if needed
* Analog problems,
* Software is fine
* Values are printing, but what we’re getting is 0
* Register values not getting updated currently (?)
* Only focusing on temperature, moisture and light; printing only 0 for now.
* Aim for next Friday to have everything done
* Big thing is making sure we’re pulling from the registers
* Can have basic outline by next week
* Offset wasn’t affecting robot
* Put in values that should have caused one wheel to stop, and it didn’t. The problem is probably in the motor code.
* On overcast day sitting by the window, got it into a 3m diameter
* Find a place, get the coordinates
* Area that’s about the size of the room. (20x20 or 30x30)
* Right behind building 9/J-lot
* Basket type reeds (loose grids)
* One outside,
* One inside
* Professor Slack will look into where our location is

===4/1/2011===

* Big breakthrough
* Diagnostic mode pulls registers (test data, but it communicates)
* Serial stuff still has issues, (motor) but it’s getting there
* Set-velocity works, but that’s about it for now.
* Will be debugged today
* Strip off insulation. (Slack will come down to lab later today)
* Registers work, data needs to be intercepted
* +/- 15V DC to DC
* Ken or Rui introduce to group in corner and ask about their converter
* Outside location (right outside the field house)
* Get GPS coordinates
* Raining out
* Possibly get a tent?
* Go inside
* Indoor booth
* Pictures
* Posters
* Webcam (?)
* Skype
* Assemble by next Friday
* Hooked one of the pumps up
* Other one needs to get attached (circuit built)
* Debating and buying
* 7” that’s bright and decent in sunlight (better for showing off robot)
* 10” that has better resolution, but isn’t as bright (better for working on robot)
* Talk to Stan about LCD (Terra doesn’t think we need one)
* Decision is to go with 10” LCD display, so that it can be used to troubleshoot robot only

===4/8/2011===

* Connectors need to be made longer.
* Haven’t really played with it yet, have been trying to get robot to move.
* Will probably be modified day of ImagineRIT at any rate due to weather
* Worst case scenario is WA being controlled via computer
* Not sure yet; will determine when we have everything set up
* Mentioned previously that it moved very quickly
* Think about sonar protocol and sweep rate/how many degrees the servo should move
* Not concerned about servo sweeping time, because it’s very fast.
* Working
* Prints out register values; not actual values yet.
* There will be titles next to each mode; and both low-level debugging and actual values
* Values have to be translated
* Design review next Friday of wandering behavior (don’t’ do anything special)
* Only pseudocoded things are things without actual values
* Contingency plans
* Tent
* “Umbrella” on robot

===4/22/2011===

* Getting everything up and going by the end of the day
* ADCs stopped working
* Same value is shown at all times
* They’re both doing the same thing; so it’s probably a software issue
* Two weeks available for testing
* Mostly done
* Testing will be completed when everything is ready to go
* Make printouts a little bit more obvious
* Put up both converted and unconverted values
* Better formatted now
* Waiting for sonars in order to actually test it
* Some minor things
* Wiring bump sensor and other sensors
* Testing

===3/29/2011===

* Sonars specifically hardware is working, software is being programmed
* Servos are working both software and hardware
* Software
* Everything will be completed and debugged next week
* Waiting on hardware to be completed.
* 3 of the IR sensors are wired, 4th is on hold (it’s not imperative for ImagineRIT
* Will have a plasma TV for all of senior design up on the 3rd floor
* Professor Slack will look into getting an LCD monitor and computer or setting up a laptop for the webcam that can be located in the booth.

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