RC Joystick Update from Ashuai

RC Joystick works. It is driven aeroplane-style. 

• Right stick Y-axis controls throttle/power
• Right stick X-Axis controls yaw/turn rate
• Left stick X-axis is controlling kill switch. 
• Control using RC joystick is currently artificially limited to 60% motor power, which can easily be changed to 100% but not is not recommend due to increased probability of possible collisions.
• Currently uses all 4 RC channels as the kill switch needs to be redundant on both motor controllers. Kill switch can be turned off when the transmitter is both on and with the Left Stick tilted leftward. This kill switch works in conjunction with the analog kill switch. There is currently an error where the kill switch can be turn off by first tilting the left stick then shutting down the transmitter.

Video of RC joystick control can be seen below.

Planning for IGVC

IGVC systems document:

Key
Strike Through means Complete
Red  Not Started, missing key elements
Orange   Parts available, not started
Yellow  Started missing hardware or software component
Green  Currently in Progress
Blue Near Completion
Purple  Completed

Chassis

• Wheels
• Motor Control
• Hardware
• E-Stop    Mason
• Need button to meet official requirements (ordered)
• Chassis Size to meet requirements (whiskers) 
• Repair motor controller
• Software
• Set Motor Power
• Set Acceleration
• Brake
• Get Data
• Voltage
• RC Channels
• Interface with RX for kill switch  CHOU
• Analog 
• Send Speed and Steer implement to platform  CHOU

 Joystick

• RC Control  CHOU
• Replace with RC Remote CHOU

 GPS UBLOX - 6H

•  Hardware Tested
• Port software from Magellan  THAI

 Encoders

• Hall Effect
• Arduino Nano
•  Mount to current motor on standoff 
• Magnets
• Make 3D printed holder for 8 magnets to fit on motor shaft THOMAS
• Repair 3D printer THOMAS

Compass and Bumpers

• Compass
• LSM303DLHC ordered  Mason
• Install on Chassis
• Solder to Arduino Nano
• Port Magellan Code
• Bumper
• Build Bumper hardware Mason
• Need more small hinges Mason
• Schedule 80 1 Inch PVCMason
• Install on Chassis 
• Wire to Arduino
• Running Light Easily visible needs to flash in autonomous mode. Interface light to Compass Arduino
• Port Magellan Code

Camera

• Mount on Chassis  THOMAS
• Roborealm
• Finding Chalk Lines
• Need a way to simulate chalk lines
• Need a way to lay out real chalk lines (Spray or machine). 
• Finding Barrels
• Finding cones (test)  

Ultrasonic

• Hardware  9 sensors 
• Arduino Nano
• Mounting
•  Software
• Porting code for 5 sensors from Magellan for Obstacle Avoid
• Using all nine sensors

LIDAR

• Hardware
• Mounting the unit
• Power supply
• TTL interface to USB
• Software
•  Threaded Serial
• Path Finding  Han

Payload

• Mechanics  A single 18" x 8" x 8" Cinderblock  Mason
• Mounting holding Tray  ANTILLON

Tablet

• Client Server IP model  WEINER
• Start with GPS visualization module server and client from Magellan
• Control app to drive chassis WEINER

 JAUS

• Install openJAUS THAI
• Determine Robot Side requirements  Han
• Determine client side requirements  THAI