These two pool tests are our final set of tests for the summer! We wrapped up our testing and had some fun moving the robot in various directions.
07/19/2025
From our previous observations, we theorized that our earlier problems with x-direction movement were due to the concentration of buoyancy blocks in the middle of the robot. Thus, before heading to the pool, we removed all of the buoyancy blocks at the bottom of the robot and arranged them at the front and back of the robot instead.
Once at the pool, we readjusted the blocks to ensure even buoyancy and began retuning our PID values. We immediately observed better results, with the robot showing stability in both the x and z directions. Unfortunately, after this success, the pool was cleared for lightning strikes in the area, and we ended our test prematurely.
07/26/2025
For our final test, we wanted to continue the work from our previous pool test. We found that our PID values were effective in keeping the robot stable and smooth during most movements, most notably during side-to-side movement, as well as changes in depth. Due to the shape of the robot, we did observe noticeable forward or backwards tilt while moving in the x-direction.
While testing, we put a smaller version of the gate found in the gate task into the water, and had the robot submerge, go through the gate, and do two barrel rolls. We found that this worked consistently, and the movement was smooth. However, following the barrel rolls, the robot may be in an unexpected orientation and might need yaw corrections to continue on.
Finally, we had the robot move long distances at once, and noted that during forward movement, the robot struggled to correct its position after passing the set point, causing a quick backward movement. This was only observed at distances over approximately 5-10 meters. Once again, we observed side-to-side movement to be smooth, and stopping at the set point showed no issue. We concluded this pool test in high spirits and reflected on the past summer.
From here, we took 07/27/2025 to pack up the robot and related supplies into crates, ready for the rest of the team in California in two weeks! We achieved a lot of the goals we set out for, allowing crucial testing time with a relatively new robot. Thank you to all the Durham-based members who made this summer possible!