Week 10 Update (3/18-3/22)

This week focused on splitting the group into two smaller groups focused on the two remaining aspects of the Mouse Droid project, that being A* search/path planning and getting the Pi to talk to the Arduino. Additionally, the team returned to recording time entries on the timesheet.

On the A* side of the project, the two members came up with a checklist of steps that are needed to reach the end goal of a functional A*. The first step was to create a proper map of the Engineering buildings first floor which will be used as a new testing ground instead of basic test maps. Step two and three are closely related and thats to get a .PGM and .yaml format of the virtual LiDARs surroundings in rViz, and parse through it in order to create a data structure that can be readable for A* to use. Lastly, we are to use the parsed data and create an A* search/path planning with a fixed goal at any point in the map.

On the Arduino side of the project, the two members worked with the ECE teammates to review existing wiring and circuitry of the bot hardware. They reviewed and modified the existing Arduino code the ECEs were using (unsuccessfully) to test motors and servos, and was able to communicate and test motors via local Serial Monitor. Currently, the ME team is working to repair the steering column involving the servo, so the effort has been focused around moving the back two motors. They are only able to simultaneously and at full speed, as a result of the hardware setup. 

Total Hours Worked: 22

Link to Timesheet

Images: 

Figure 1: Plan for A*

Figure 2: Progress on A* Plan


Figure 3: Map mapped in rViz

Figure 4: Map in Gazebo w/rViz mapping in progress


Figure 5: Bot infrastructure and wiring



Figure 6 & 7: Wiring for Arduino to back wheel motor connections


Figure 8: List of commands used for serial communication with Arduino






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