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Driver

Approver

Contributors

Informed

Objective

Drive the rover using an xbox controller by communicating over radio waves

Due date

June 15th

Key outcomes

  1. Assembled drivetrain

  2. Drivetrain able to move over flat terrain

  3. Communication system exists to relay commands between base station and rover

Status

NOT STARTED / IN PROGRESS / COMPLETE

\uD83E\uDD14 Problem Statement

In order to keep the bay, the team must show significant progress by June 15th, 2024. In order to prove to ourselves that we can compete in the next competition, we must finalize the drivetrain and ensure that we can drive it remotely. Success will be measured by the following: Ability to drive the rover for 30 seconds, where the driver and base-station start at a distance of 50m way from the rover.

🎯 Scope

Must have:

  • Assembled mechanical drivetrain

  • Mounts for battery and ebox

  • Comms mount on the rover

  • Completed electrical subsystem on the drivetrain and in the ebox

  • Joystick capable of relaying velocity commands to the rover

  • Comms system capable of communicating joystick velocity commands to the rover, and able to receive feedback from the rover (communicate ros topics over radio waves)

Nice to have:

  • Sensor mounts on the rover (cameras)

  • Basic GUI capable of relaying visual information to the driver

Not in scope:

  • Multiple frequencies for comms

  • Any other forms of communication between the rover and base station

  • More sensors on board the rover for autonomy (gps, IMU)

\uD83D\uDEA9 Milestones and deadlines

Mechanical

Milestone

Owner

Deadline

Status

Priority

Epoxy Carbon Fiber Tubes to Joints

NOT STARTED

1

Manufacture rest of 3D Printed Wheels

NOT STARTED

2

Machine Differential Bar Link

NOT STARTED

2

Battery and Ebox Mounting Design

NOT STARTED

3

Stereo camera Mount Design

NOT STARTED

4

Comms mount (maybe, depends if we need it)

NOT STARTED

4

Electrical

Milestone

Owner

Deadline

Status

Priority

Create motor and encoder wires (make them long enough!)

1

Test running all 6 motors on the skeleton (stress test)

Prototype Comms for simple ROS topic transmission

Order components for comms

Put together comms system for basic data

Extend comms for image data from stereo cameras

Software/Firmware

Milestone

Owner

Deadline

Status

Priority

Create joystick control node

1

Test drivetrain control code

Send and receive ROS topics via comms

Setup basic driver GUI for camera feeds

\uD83D\uDD17 Reference materials


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