Rev 3 - Oct 2021

Owned by Sahil Kale (Deactivated)
Last updated: Aug 18, 2021
1 min read

Requirements

  • System shall be able to read from the following sensors as listed here: Sensors
  • System shall be able to communicate bi-directionally with the Jetson using CAN
  • System shall be able to take in TBD: Bus Voltage, pending discussion mid-September as per lwbantot@uwaterloo.ca (Deactivated) 
  • System shall be able to control the soil storage mechanism and rotate it to the desired angle for the camera via an ODrive controller for a brushless motor
    • System shall be able to read the position from an absolute encoder
  • System shall be able to control the soil intake mechanism via a servo and an ODrive controller for a brushless motor
    • The "elevator" contains a limit switch that can be used for homing and calibratio


Rough Architecture