Log

TASK SPLIT

Wanyu Weng: joysticks on NAVCON and FUELCON, 4 buttons (SHOOT, INC_ANGLE, DEC_ANGLE, BOAT_BUTTON), NAVCON mechanical design, state diagram

Elaine Jingyi Liu: Mechanical design for the boat, FUELCON box, drum button;

Hansub Kim: Pump, DM_Display, XBee integration for NEDMO, NEDMO software, aseembling circuitry, boat enclosure design

Baxter Bartlett: indicator/fuel level servos, drive motors, 0ILUS software 

May 14, 2024

By checkpoint2 list:

XBee transmission between 2 pics, all instructions from protocol - B/H;

Software integration (joytick and LED matrix together, pump and fuel service together, fuel indicator with FUELCON) - W/H/B;

Pump motor (2k rpm) and test - H;

Soldering for NEDMO - H;

Boat design - E/W;

State diagram - W.

May 15, 2024

Baxter and Hansub can now get XBees talking to each other

Hansub ordered pump motor and shaft coupler 

Wanyu and Hansub merged DM Display and Joystick, Boat Selection is now working 

Elaine and Wanyu worked on Boat chassis design 

May 16, 2024

Hansub will solder a bunch of shit 

Hansub outlineD code for integrating comm protocol into NEDMO 

Baxter and Wanyu merged fuel servo on NEDMO. It can show 6 states of fuel level.

NAVCON assembly finished.

Boat chassis done

May 17, 2024

Foam cutting, motor mounting, pool noodle mounting; NEDMO assembly; 

drill back of the FUELCON;

Wanyu and Hansub assembled the NAVCON controller (hot glued buttons and joystick.) 

Baxter made a state diagram for boat and pseudocode for XBee service (Baxter)

May 18, 2024

Baxter finished all software for 0ILUS including XBee ←→ 0ILUS integration. 

Elaine and Wanyu spray painted and assembled FUELCON. 

Hansub wrote the FSM for NEDMO and code for XBee integration into NEDMO peripherals.

Wanyu and Hansub tested pump motor and found it to be inadequate, decided to pivot to IEIK 12V diaphragm pump instead. 

May 19, 2024

Elaine and Wanyu did final assembly for NEDMO.

Baxter and Hansub can drive all 0ILUS motors wirelessly through XBee. 

Hansub and Wanyu soldered the NEDMO perfboard

Whole team did boat testing (driving motors for 10 sec on, 10 sec off) in Terman fountain. Motors were too weak and sunk too much current into TLE drivers. 

Elaine and Wanyu sourced and bought new motors (underwater thrusters) 

Baxter and Hansub discussed workaround for refueling service edge cases. 

May 20, 2024

Team got checked off for CP2 :) ! 

Hansub soldered the 0ILUS perfboard. 

All NEDMO functionality good!

Wanyu and Hansub tested new pump. It’s good, need to make some adjustments to the tube length and position

Hansub CADed the electronics enclosure for the boat. 

Elaine CADed underwater thruster mounts. 

Wanyu and Hansub made some modifications to the v2 chassis. 

May 21, 2024

Hansub finished writing the test harness for NEDMO FSM

Wanyu and Hansub successfully completed final NEDMO integration with XBee. 

Elaine and Wanyu modified chassis assembly and laser cut the v2. 

Baxter and Hansub successfully tested all wireless communications between the NEDMO and the 0ILUS (!!!) 

May 22, 2024

Wanyu - edit joystick code to fix last small bugs and test with Hansub and Baxter. At this point, wireless communication should be completely done. 

Hansub CADed boat enclosure. 

Wanyu CADed nozzle fitting for pump tube and raised platform for mounting tupperware. 

Team tested boat stability at the fountain. 

Team tested thrusters. 

May 23, 2024

Hansub finished boat enclosure and XBee flagpole CAD, and started print. 

Wanyu printed tupperware platform. 

Hansub and Baxter streamlined OC and T3 settings for PWM on all 0ILUS motors. 

Final NEDMO integration? 

May 24, 2024

More team testing in the water. 

Hansub and Wanyu CADed a NEDMO mount and PCB mount. 

May 25, 2024

Whole team fixed major software issues:

• Laggy controller issue (caused by event checker spamming the NEDMO FSM which was in turn spamming the boat’s XBee (was sending packets at the rate of the event checker instead of 0.2s) 

• Fixed spurious unpairing issue 

• Fixed DM display issue (was posting to LEDFSM when pairing instead of BoatDisplayFSM) 

• Fixed DM display MCLR issue (logic supply battery startup was lagging, so software services were not initializing in the right order)

• Fixed laggy refueling issue (caused by mismatch between paired/refueling states and starting/stopping of refueling timer) 

Wanyu and Hansub did major rewiring and PCB organization on the boat and the NEDMO.

Baxter CADed a 1 for the team/paired indicator, and mounted it to the servo on the back of the enclosure. 

Hansub spray painted the enclosure.  

Elaine and Wanyu attached the foam bumper and foam wings onto the new chassis. 

May 26, 2024

Checked off for Project Preview with Team 3. We can control their boat and vice versa.

Elaine and Wanyu replaced the lab’s 5A fuse with a new 10A blade fuse, which allows us to run at 30% duty cycle instead of 20%. 

Hansub fixed NEDMO FSM code to be able to connect to any boat.

Hansub changed DM display brightness to 0x0A0A. 

Hansub CADed the dragon head assembly. 

Hansub and Wanyu CADed cannon turrets for nozzle 

Baxter CADed a dragon head.

Baxter altered the drive code to include a larger turning deadband, and allow for 30% duty cycle. 

May 27, 2024

Baxter changed code for the motors to run at 30% duty cycle instead of 20%. 

Team planned to replace 10A fuse with 15A 

Baxter changed pump duty cycle limits to start at 40%, max out at 70% 

Team mounted turret for nozzle.