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 …
We left for the pool having ensured that all sensors worked, but didn’t test the tether. At the pool, we couldn’t connect to the robot via the tether. We narrowed it down to an issue with the ethernet head plugged into the robot’s switch. New ethernet heads were crimped onto two ethernet cables plugged into …
Last friday we executed our first fully-integrated test. This involved carefully sealings all the pressure hulls, loading up the golf cart with the robot, the support frame, the ethernet reel, buckets of supplies, laptops, and four people. It took us two trips to actually get everything. I think we can actually reduce it to one in the future. In the …
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