Actual:
- Painted CatchBot.
- Fine tuned gameplay code.
- Competed in final competition.
Planned:
- Continue final construction and integration.
- Safety margin for fixing issues or implementing more complex perception algorithms.
Actual:
- Modified gameplay code and developed full autonomy. CatchBot is able to play both cooperative and adversarial catch.
- Prepared for seeding competition and final grading.
Planned:
- Continue final construction and integration.
- Safety margin for fixing issues or implementing more complex perception algorithms.
Actual:
- Constructed final integrated design with belt-driven custom printed flywheels. Beach ball launches the required distance.
- Continued writing gameplay code. Robot successfully catches and returns the beach ball to a human player.
- Integrated computer vision into game loop in preparation for the seeding competition.
Planned:
- Continue final construction and integration.
- Safety margin for fixing issues or implementing more complex perception algorithms.
Actual:
- Created CAD drawings and began construction of final integrated design.
- Began writing gameplay code.
- Demonstration of flywheel mechanism with bigger brushless motors and custom 3D printed wheels.
Planned:
- Order parts for final design.
- Final construction and integration.
Actual:
- Prototyped variable width flywheel throwing mechanism.
- Prototyped mobile base with aluminum and mounted omni-directional wheels to base.
- Designed and 3D printed new flywheel design.
- Developed successful communication between Arduino and Raspberry Pi. Used to link AR tag detection to robot body rotation via omni-directional wheel servos.
- Integrated all control code into one program for Pi and one program for Arduino.
- Robot is able to successfully track a human wearing an AR tag.
Planned:
- Continue implementation of ball perception algorithm (Circle Detection)
- Finish Integration of robot perception into control loop
Actual:
- Prototyped throwing mechanism housing and mobile base with wood.
- Continued AR tag detection code development.
- Successful implementation of AR tag detection that runs on Raspberry Pi.
- Prepared working subsystems for mid term demonstration.
Planned:
- Implement ball perception algorithm (Circle Detection)
- Integration of robot perception into control loop
Actual:
- Prototyped mobile base with integrated distance sensor.
- Developed preliminary AR tag detection code.
- Developed CAD drawings for integrated throwing mechanism.
- Developed preliminary ball detection code.
Planned:
- Integrate three mechanisms together
- Prepare for week 5 demonstration
- Complete Minimum Viable Product
Actual:
- Ordered parts (servos, wheels, camera, Raspberry Pi).
- Assembled prototype of servo-powered throwing mechanism.
- Initial prototype of throwing mechanism using servos showed that servos were not powerful enough.
- Switched throwing mechanism to using flywheel launching mechanism instead.
- Prototyped flywheel mechanism for actuator demonstration.
Planned:
- Acquire/order materials
- Prototype:
- Mobile Base
- Catching Mechanism
- Throwing Mechanism
- Test Basic Mechanisms