Subsystem Build & Test
Table of Contents
Team Vision for Subsystem Level Build & Test PhasePROGRESS REPORT
- Plan: Finish the Design, manufacture all parts, and begin assembly.
- Achieved: We have a mostly assembled robot. It needs one more timing belt, as the first attempt is too short. There is one on order. Also, the holder for the Proximity and Sensor are not designed, however there is a plan in place. It should not take more than a day to design and print. Below is the updated 3D model of the robot.
- Plan: Get Board Reviewed, Finalized Design, Send Board out for Manufacturing, test
- Achieved: Went back and forth with Carlos a few times, confident about design. Sent board out to OshPark on Feb 8th, Should receive it back in the next few days
- Plan: Buy and Test Battery
- Achieved: bought 4 Lithium Ion 18650 cells (Series) received and tested them with proto-board using a battery holder which is in the final design. Also we did some testing with a battery management system. The risk that we are attempting to mitigate is undervoltage/overdraining. We found most battery management systems out there protect batteries from overcharging but not undercharging, and since we have bought a battery charger, this is not our concern. In order to mitigate this risk, we will be testing a simple circuit to measure the voltage, and cut off power if it gets too low.
- Plan: Make cables
- Achieved: Made a test cable as proof of concept, but decided that it makes sense to wait for board to come in to make final cables to get lengths right.
- Plan: “Work on robot firmware”
- Achieved: laid groundwork by writing motor, and sensor classes. Wrote simple scripts to test these classes as well.
- Achieve automatic recognition of four corners of terrain map.
- Get JSON File writing correctly to send for path planning algorithm.
- Get automatic pixel color recognition working.
- Achieved four corner recognition of terrain map.
- Achieved JSON writing.
- Automatic pixel color recognition working. Also working on optimizing all three of these pieces of code, and cleaning it up.
- Plan: Define preliminary heuristics and Program the A* general code
- Achieved: Setting up structure to get working on the code. Research found that heuristics are final stages of process. Found the beginning stage should be specify the base A* code to our application. In the process of fully understanding the code and specifying it.
- Complete asar-comms-server per the test strategy.
- Complete asar-camera engine per Test Strategy,
- Follow tutorial to learn the Python flask framework.
- asar-comms-server is done and functional
- Camera Engine is functional and pushed to Github.
- progress made on web server.
- Plan: Gather/Purchase materials.
- Achieved: Solidified what the environment will look like. Decided to de-prioritize the design of the environment for the time being.
Test Results Summary
We are following our Testing Strategy document. We went through the document mainly to see progress at this time. It is a little early to use this document in many cases, but we used it anyway. We have many tests failing, but it is mainly because things are not completed, and not ready to be tested yet.
Risk and Problem Tracking
- Risk Management Document - Updated, but no significant changes, nothing new to be worried about.
Functional Demo Materials
Plans for next phaseTeam Plans and Goals
- As a team, in the next three weeks all individual subsystems should be functional, and we should be working towards integrating the subsystems together. We will be able to start using the problem tracking.
Individual Plans and Goals
- Receive PCB, assemble (solder) PCB, and do initial testing (Week 6)
- Switch out proto-board with PCB and make all final cables. (Week 6-7)
- Finish up all necessary component classes (Week 6-7)
- Integrate classes to make wandering program to find flame (Week 7)
- Integrate to read incoming instructions from xbee and complete (Week 8)
- Time Permitting Help with Environment Setup and Path Planning
- Finish and test hexagon graph instantiation
- Modify A* framework for our application
- Resolve Queue issue described in problem tracking
- Formulate multiple possible heuristics for admissibility and consistency testing
- Affirm terrain types, colors, immediate danger, and adjacent danger
- Decide on terrain materials and size for purchasing
- Purchase materials for simulation environment
- Design, and Print Sensor Mounts to Sweeping Servo.
- Work on firmware for the robot.
- Work on building simulation environment.
- Test Camera Vision in large scale with the full sized terrain.
- Begin building in double checks for each of the terrain tiles(shapes and colors).
- Design the camera mount with the remaining budget.