Courses:Field Robot Summer Course:2012:Team 3:Blog

Daily Scrum meeting

Tuesday 21/8 - 2012:

Summery of what have been achieved until now:

Nikolaj:

• Motorcontrol PCB done, and tested
• Motor can be controlled from a potentiometer to test the robot frame
• When encoders are up and running the P(ID) regulation will be implemented

Needs:

• Getting encoders up and running and getting powersupply for them + FPGA (the same)
• Emergency stop + start button and on/off button.

Mads:

• Working on the FPGA interface communication (Getting it ROS compatible)
• ROS and FroboMind up and running on robot computer
• Getting to know ROS/FroboMind

Janus:

• Building robot frame + drivetrain
• Making 3D drawings of robot model
• Making a model in foam

Rasmus:

• Building robot frame + drivetrain
• Looked at the LRS
• Looked at the In-row navigation
• Looked at the IMU and made USB interface

Scrum meeting:

Nikolaj:

Since last time: Made another PCB to motorcontrol + remote control (potentiometer) done
Till next time: Looking on the interface to the encoders + powersupply to FPGA/encoders and looking on audio confirmation
Problems: -

Mads:

Since last time: Looked at the interface to FPGA from ROS
Till next time: Continue on the interface to the FPGA
Problems: Getting another FPGA to speed up the process + talk to other groups to see if they have the same problems

Janus:

Since last time: 3D drawings worked on computer mount + models
Till next time: Getting started on the mould for the shell
Problems: Found some flamingo - getting an allowance to buy it from Silvan

Rasmus:

Since last time: Getting missing parts to drivetrain, started on the shafts + looked at Ransac algorithm for inrow navigation and optimizing
Till next time: If the shafts are done, the robot frame is worked on or else looking further into inrow navigation. Getting emergency stop button.
Problems: Needs shafts for getting the frame done!

Monday 20/8 - 2012:

• Interfacing with FPGA from computer through ROS - Needs to fit the ROS node to communicate with TosNet
• Finding missing parts for drivetrain so robot frame can be finished
• Will get the test environment finished and hopefully be able to test the robot frame within the field one of the following days
• Startet on mould for the shell for the robot

Friday 17/8 - 2012:

• Interface with encorders to FPGA
• Still working on PCB's
• Waiting on spare parts for drivetrain

Thursday 16/8 - 2012:

• Startet working on the shell for the robot
• Make a PCB with two opto-couplers
• Interface with encoders to FPGA
• Get familiar with ROS/FroboMind

Wednesday 15/8 - 2012:

• Getting shafts finished and mounted
• Testing of robot platform in field
• Robot computer up and running
• Looking at remote control of the robot through robot computer
• Getting IMU working through USB
• Scrum meeting with customer

Absent group members:

• Ilias - ??

Tuesday 14/8 - 2012:

• Ordered missing parts for drivetrain from KJV
• Finished building the optocoupler
• Tested the H-bridges and getting fuses
• Still problems with getting ROS/FroboMind working on robot computer

Absent group members:

• Mads - Sick
• Ilias - didn't show up

Monday 13/8 - 2012:

• Getting robot computer up and running correct with FroboMind
• Working on getting LIDAR running in FroboMind
• Working on setting up motor + drivetrain and calculations for those
• Mounting new bearings to prototype robot frame + if time getting shafts fittet/modified
• If time going to look at the missing gear to drivetrain at KJV

Absent group members:

• Ilias - Hospital

Friday 10/8 - 2012:

• Ubuntu installed on the robot computer and ROS+FroboMind will be installed later this day
• Battery and drive train calculations done
• Begining on setting up the communication between FPGA and computer today
• Motors needs to be tested to know the stress and strain
• Need gears, 2 shafts and bearings
• Need weight calculations of the robot