Aaron Swenson Samuel Farnsworth Derek Stewart Craig Call

Overview

Previous Action Items Mechanical: Complete robot design Build second robot Vision: Robot and ball detection Kalman Filter implemented Controls: Implement PID control Speed and distance controlled commands (move to any point) AI/Architecture: ROS setup and communicating between systems Implement 1 offensive and 1 defensive play

Milestones Acheived Mechanical: Complete robot design Build second robot Vision: Robot and ball detection Kalman Filter implemented Controls: Implement PID control Speed and distance control commands (move to any point) AI/Architecture: ROS setup and communicating between systems Implement 1 offensive and 1 defensive play

Difficulties Faced Build second robot: Still working on first robot, parts have not yet arrived. Improve design before replication Kalman Filter implemented: Camera specifications kept changing Distance control commands : PID Controller took longer to complete than anticipated Implement 1 offensive and 1 defensive play: High dependency on Vision

Schedule

Schedule continued...

The following tasks do not have a set start date or duration: Maintain code base (Sam) Optimization (Sam) Debug algorithms (Sam) Refine Vision (Derek) Perform routine maintenance (Aaron)

Program Status ●Mechanical ○Reworked robot frame ○Added wiring for encoder feedback ○Easy battery/power cord switching ●Vision ○Color identification algorithm working ○Tracking ball and robot position (cm) and orientation (d ●Controls ○Implemented velocity controller and trajectory tracker ○Designed M-matrix (rotational matrix) logic ●AI/Architecture ○ROS up and running on robot and base station ○Refactored code base for easier use ○AI library code base started

Program Status - New Robot Frame Bottom LayerMiddle LayerTop Layer

Action Items ●Mechanical ○Rework component placement, including replacing breadboard with vectorboard ○Update power connectors to make the system more stable ●Vision ○Remove fisheye effect from video ○Track shapes in addition to color continued...

Action Items continued... ●Controls ○Implement path planning and basic motor controls ○Thoroughly test current control architecture ●AI/Architecture ○Complete AI library and play strategies ○Implement Kalman filter ○Implement path tracking and prediction

Questions? Comments?