What needs to get done for SAR?

Firmware

• ODrive work

  • ODrive testing in the bay on Sunday, Jan 9, 2022 from 8:30am - 4:30pm

    • Coordinate beforehand since we can only have max 5 people in the bay

  • ODrive encoder support (Cindy)

    • RLS orbis SPI

      • https://www.rls.si/eng/fileuploader/download/download/?d=1&file=custom%2Fupload%2FBRD01_07_EN_data_sheet.pdf

    • RLS incremental ABZ

    • AMT SPI

      • https://www.cuidevices.com/product/motion/rotary-encoders/absolute/modular/amt20-series

  • ODrive CAN testing (Rohan)

    • How to initialize the CAN bus?

    • Setting up CAN messages in YAML descriptor

    • Figure out how to do master ↔︎ axis message transactions

• Modules work

  • CAN module (Dhruv)

    • Porting existing CAN driver to modules structure

  • Gimbal servo module

    • Kinda low priority but open to takes

  • Science (Jahnavi, Stanley)

    • Sync with mech/EE on how the science mechanism works

    • Science - Motors, Servos, Sensors & Cameras

Software

• Drivetrain (Melvin)

• Arm (Orson)

  • “IK is a priority to get done for SAR” - Melvin

• Science

  • Orson to look into this after finishing arm work

  • ROS stuff

• Gimbal

  • ROS stuff

• Autonomy

  • https://discourse.ros.org/t/nav2-first-time-setup-guide-complete/23664

  • ^ Melvin recommends reading this

• Gamepad