Weekly Goals
For this week, our goals are to:
- Communicate with Track team, Switch Arm team, and mentors for updates
- Determine parts needed for bogie suspension
- Test IMU code
- Install ROS and get SLAM functional on Raspberry Pi 4
- Reduce bogie chassis thickness to ~ 1/4"
- Change angle of suspension bar
- Remove suspension for lateral wheels
- Test power distribution board on breadboard
Tasks
Devin - IMU code and testing
Jake and Devin - Install Raspberry Pi OS and get Hector SLAM working
Alex and Husain - Power distribution board design finalization and prototyping
Michael, Andrew, Kristian, Carlos, and Max - Bogie chassis design finalization and prototyping
Progress
Currently, the team is in the transitional phase of going from R&D to prototyping. On the mechanical side, Michael, Andrew, Kristian, Carlos, and Max are in the process of creating a prototype of the bogie chassis. Carlos has used a lathe to make the axles out of aluminum. Kristian has begun 3D printing the main chassis on a smaller scale until the team finalizes on how manufacturing of the final chassis will be done. The whole team is making final adjustments to the current CAD given new information and constraints.
Electrical team consisting of Alex, Devin, Husain, and Jake are working on object detection, the IMU, and power distribution board. The IMU code has been written and will be refined and tested once ESP32 microcontrollers and LSM9DS1 accelerometers are shipped. After the IMU is completed, packaging and distribution of data will be worked on using MQTT to send to IOT team. There have been some complications with object detection. Raspbian need to be installed and used instead of Ubuntu which was originally the chosen OS. The power distribution board has been designed and will be prototyped on a breadboard within the next week to ensure the design provides enough power to all electrical components.
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