Embedded Files
Author: Yuga Patel and Abriti Chatterjee
Witness: Ms. Maria Osoria and Ms. Manisha Shah
Date: 9/9/2020
Duration: 5:00 p.m. - 6:30 p.m.
TABLE OF CONTENTS
Attendance
Ahmed Mahmud
Hooryah Raja
Murtaza Raja
Manyata Arora
Amanpreet Dhah
Caitlyn Mei Roxas
Abrahim Mahmud
Shaurya Singh
Benjamin Fitzgerald
Martina Soliman
Anirudh Chaturvedula
Ria Gray
Asmi Shirsat
Abriti Chatterjee
Tessa Weaver
Leonard Malott
Mary Dawod
Arleen Dhah
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Atharva Khandelwal
Ved Borade
Tvisha Doshi
Venya Goyal
Eva Ji
Prajwal Khanal
Lutifiyah Mohammed
Sivaditya Padmanabhan
Yuga Patel
Vanisha Rajlakshmi
Astrid Salazar
Ehtesham Suhail
Alisha Varma
Ashita Birla
Syed Shah
Mark Rajah
Luniva Joshi
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Team Planning
Agenda
Today the main goal is to complete the Mecanum wheel assemblies by attaching the axel hubs and screws to it.
After the wheel assembly is complete, the wheel are attached to the axels in order to complete the entire design.
Today the primary goal for programming is to understand how OpenCV works.
Then we are supposed to go over the challenge of the week with Ahmed and start working on the program required for completing it.
We also try to use OpenCV in the program after we write the basic lines of code (introduction of motors, making of the class, etc).
Reflection
The axles of the Mecanum Wheel are completed. The Mecanum Wheels are also attached to these axles. All four wheels are attached, the left Mecanum Wheels are attached to the front part of the robot, and the right Mecanum Wheels are attached to the back of the robot.
The next step is to add additional screws to the entire design in order to complete the base chassis design.
During this meeting there are some complications with being able to attach the Mecanum Wheels correctly to the axles. The motor gears and the wheel gears are supposed to line up together, however it isn’t possible to attach them correctly on OnShape. Previously we had problems finding the 200mm axel, and therefore connected two 100mm axles to solve the problem. Now there are only certain places where the wheels can be attached to the axel. However, the correct placing is not available.
The programming team goes over what OpenCV is and how it works. We watch videos and read articles about OpenCV to understand its functions. Whenever we have a question, we ask each other instead of just asking Ahmed directly to get to know each other more.
We also start writing the program that would essentially contain code to complete the programming challenge of the week.
We add all the basic components, like the introduction of motors, the implemention of encoders, the standard power of the robot.
We have a bit of trouble strafing diagonally. So, we have to find a solution to this problem the next time we meet.
In the future, we will also like to try to implement the concepts of OpenCV that we learn about today into the program. In that way, we would be able to complete the programming challenge of the week.
Hardware
Agenda
Today the main goal is to complete the Mecanum wheel assemblies by attaching the axel hubs and screws to it.
The axel assembly also needs to be completed in order for the wheels to be attached to it.
After the wheel assembly is completed, the wheel will be attached to the axels in order to complete the entire design.
Reflection
The axle assembly of the Mecanum Wheel has been successfully completed and attached to the channels.
The wheels have also been attached to these axels. All four wheels are attached, the left Mecanum Wheels are attached to the front part of the robot, and the right Mecanum Wheels are attached to the back of the robot.
The next step is to add additional screws to the entire design in order to complete the base chassis design.
During this meeting there are some complications with being able to attach the Mecanum Wheels correctly to the axles. The motor gears and the wheel gears are supposed to line up together, however it isn’t possible to attach them correctly on OnShape. Previously we had problems finding the 200mm axel, and therefore connected two 100mm axles to solve the problem. Now there are only certain places where the wheels can be attached to the axel. However, the correct placing is not available.
This is the front section of the robot with axels and wheels attached to the channels. The wheels are slightly placed wrong on the axels because it is not possible to fasten them correctly on OnShape. However, we plan on fixing this problem soon when the Specialty-Part Design team assembles two 100mm axles together to make one 200mm axel.
This is the complete robot design that lacks a few screws. This chassis design includes motors, Mecanum wheels, and gears attached with the channels.
Programming
Agenda
The first goal of today is to learn about OpenCV so that we know how to implement it into our program.
Then we will work on the programming challenge of the week.
The challenge for this week involves using our knowledge of OpenCv and coding in general to work with identifying skytones and using them to complete different tasks. The tasks are all related; so, if you know how to complete one of them, you would have an idea of how to do the rest.
Throughout this process, we have to learn to collaborate with our team members, solving problems together and helping each other.
Reflection
Things work fine. We interact with each other to understand the assignment given to us by team captain Ahmed. Sometimes there are periods of awkward silence, but that’s most likely because we don’t know each other that well yet and are tentative to answer questions and talk about things together.
The program is entirely new, but it's based on the demonstration program from Friday. In this case, we have merged both fowardMecanumEncoder and strafeMecanumEncoder.
Although the program is off to a good start, we have trouble strafing diagonally. Although we can’t find out the exact cause, we think it's most likely that the algorithm to decide the ticks is acting up. In order to solve this, we either need to run it by time, or we need to find another way to do the math.
In the future, we would like to add lines of code to what we already have in the program so that our code is actually able to do the task that the challenge of this week asks us to do. Also, we identify some hurdles that may affect our program in the future; so, we have to figure out how to fix those problems.
No matter how many problems we have, working as a team would help us overcome all the hurdles!
In the picture above, you can see the very basic parts of the program that we have written so far. These basic parts are very important because these are essentially what the whole program is based on. For example, if we forget to declare the motors, our robot won't know how to move! Throughout our time in robotics, we learned that, "Always pay attention to the basics. After that, you can work with almost anything!"
In this picture, you can see the path that our robot will follow in the program. The robot will move at a power of 0.5, which is the standard power that we use in all our programs. Then, the amount that it will move forward and the amount it will strafe is not constant because the path of the robot isn't straight. We will have to use the virtual robot to make sure that the path is how we need it to be.
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