27 Feb

This was the first attempt at making an active capturing mechanism for the autonomous blimp. We tried using a claw design where the carbon fiber rods acted as claws while a servo motor along with gears assisted in rotary motion of the claw.

25 Feb

The past couple of the weeks were removing the hacks that were put together for the presentation last month. Some things I have added and plan to add to RoCo, particularly in context of integration with scenic. This includes exporting the RoCo output to a format compatible with webots, in a general...

22 Feb

The blimp can hover when it's close to the goal if we set PID value to be small: The blimp will easily lose track of the goal when it approaches from a further distance because our PID value is small: A screen recording shows how it lost track of the goal: How to improve next: ...

19 Feb

We always like to see when we can remove more lines of code than we add. The refactor mentioned in the blog post two weeks ago is finally done and merged, and in general refactoring is wrapping up. Hopefully new feature development (port arrays, then multipack devices) will start next week. A...

18 Feb

The goal detection vertical flying test: The goal detection horizontal flying test: The goal detection hovering flying test: Next step: Need to make a separate PID module for different situations/areas. Function will take in the PID for x,y, and input Improving the horizontal...

14 Feb

The main focus of this week was to familiarize with the use of brushless motors so that we can transition our system to use BLDC instead of regular DC motors. First we had to make sure that we can run it using an ESP32. In order to do that, we utilized Adafruit Servo Shield, which allows us to conne...

13 Feb

Testing the detection of the short range orange circle using Laptop's power: Testing the detection of the short range green square using Laptop's power: Testing the detection of the short range green triangle using Laptop's power: Testing the detection of the long range and big size gree...

11 Feb

Since most of this week has been a refactoring slog on the HDL compiler, I'll instead talk about the engineering for the source-measure unit (SMU, HDL here) and multimeter (HDL here) example design boards that were built last year, but only started to get brought up. As a recap, a SMU is a combi...

09 Feb

In this video, we use color threshold algorithm to detect the goal and output the center of the goal from terminal (Though it was not showing in the following video).

09 Feb

One video snapshot from our flying test after we debug it: After first, it performed pretty bad since the color we previous took was from conference room. But after we tweak parameters, it was better in the lab environment.