This is our last pool test of the semester. We spent the first half of the pool test testing out a few different issues with our robot: Our main goal for the second half of the pool test was to complete the prequal. We first used dead reckoning for both going around the marker and …
Today our goal was to try to complete the prequal by any means necessary. While we didn’t complete the prequal, we’ve made quite a bit of progress towards this goal. We picked up from where we left off yesterday, which was to try to keep the robot level whilst moving forward, especially when tracking a …
We attached a much wider base to the marker, which allowed it much more stable when standing up in the pool. We setup the prequal course. We’ve put small pieces of tape near the edge of the pool at three points: robot starting position, gate position, and marker position. We adjusted buoyancy and retuned static …
We remapped the joystick inputs and it now works as expected. We tested all 6 axes, including roll and pitch. Like Will, we noticed Foxglove becoming unresponsive if multiple windows are open. We noticed that the Foxglove bridge node was reporting that the send buffer limit has been reached which is the most likely cause …
Before the test: Last night, Philip finished wiring the Ping1D. Today morning, we discovered that the epoxy applied to the battery connector had gotten into the connection, causing the connector to be very tightly connected with the wall power connector. We couldn’t separate them with brute force, so Philip cut off part of the insulation. …
We added Duke Robotics Club labels to the chairs, table, and monitor. We swapped out the HDMI cable for our pool monitor since we were having problems with the old one. We recorded a 10 minute (~10,000 frames) underwater video of the pool from the front DAI camera. This will be used as null images …
Before the Test: Everything in the lab was good before the test. The battery capsule is still disconnected so we zip tied it down. This needs to be fixed before next weekend. When we arrived at the pool we recalibrated the IMU to see if calibrating it in the pool area helped. Test: We continued …
8:00 AM – 9:30 AM We got to the pool at 9:50 AM. We were delayed because of an electrical issue causing the computer not to receive power. I had tested the robot last night and today morning and everything was working ok. After we put the capsule on for the first time, the issue …
Before the Test: Everything in the lab was good before the test. We attempted to hot glue a potential port which could have caused the leak from the pool test on 4/5. We resecured the 1D sonar with zip ties to orient it in the correct direction. I changed the mode of the IMU from …
Before the test: One side of the 3D print for the downward DAI was broken/dangling so we secured it with tape. Vincent is going to reprint it. We also secured the loose 1D sonar with zip ties. Philip said that there should be a mount for it. 8:30 – 10:30: We first tested the seal …
We got to the pool at 2:45 PM due to issues with the DVL. When we checked the robot in the morning, all sensors worked except the DVL. We wanted to check the LED on top of the DVL to see if it was powered on. To do this, we took the DVL off the …
We got to the pool at 2:30 PM due to delays in resolving issues with the DVL and thrusters. The thrusters issue was fixed after the offset was changed to zero. The DVL however was unreliable when tested on land – it worked sometimes, but not other times. Also, we could initially connect to the …
Before leaving the Foundry at 8:30 AM today, all sensors and thrusters on the robot were 100% functional. We put the robot in the water while the robot was still off, and we quickly noticed many bubbles coming out of the main capsule, so we took the robot out. The main capsule had not formed …
On Saturday, Max generated a fully synthetic dataset and trained a CV model to detect the buoy. In addition to the four buoy glyphs, it also detected the entire buoy – something which I asked Max to add on Saturday after realizing it would be useful for sonar testing. On Sunday, we tested the new …
Prior to the pool test, we replaced the bottom camera with poker chips of equivalent weight to prevent the camera from potentially being damaged. We also added quite a bit of tape around that end today as a temporary measure to prevent too much water from getting into the bottom camera capsule and changing the …
Before going to the pool today, I tested the capsule that was repaired yesterday in the sink, and it worked well – no leaks. We got to the pool on time. The issue with sonar appearing as busy to CV was fixed when it could not find the object. We tested the fix on land, …
We got to the pool about 20 minutes late due to the acrylic separating from the capsule we had been using. We instead used a non-ideal capsule. We tested the sonar. The new sonar algorithm using scikit-learn worked well, returning accurate distances to the buoy. If sonar can’t find the buoy, CV would think that …
We were delayed in getting to the pool by two hours due to the time needed to wire the bottom camera and resolve other electrical issues. We only had about 45 minutes at the pool. We tested recent changes to controls and task planning. We resolved some bugs related to tf2 in task planning, but …
We got to the pool with only a small delay (we cut and drilled buoyancy blocks at the Foundry before leaving). We adjusted the buoyancy, making the robot almost level. We tuned x, y, z, and yaw PID. The robot can hold depth and rotate (yaw) with great accuracy. X and Y movement is also …
We were delayed by an hour in getting to the pool due to issues with the pressure sensor, camera capsule, and tether. We moved the robot with the joystick; it behaved as expected given the updated nonlinear thrusters and controls code. We then tried to begin tuning Z PID, but couldn’t make much progress given …