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- The motherboard of both car1 and car2 seems blown...I tried to connect it to the screen and there was no signal. I will try to substitute the power connector.
- The left rear wheel of car3 doesn't spin when the motor runs.
- Both cars 1 and 3 (I couldn't check car 2) have biased steer. When the steer input signal is 0 they turn left (in car1 this problem is very evident).
- Cameras should be screwd to the metal support. Now everytime they move, the calibration must be done again. An extrinsic calibration (at least) should probably be performed again after this job.
- Sometimes the two chargers close to the whiteboard display the green light when cars are connected (i.e. they're done charging) but when I move the wires the light turns red.
CHANGES FROM PREVIOUS SUMMER
- ca2: grouped utility functions in a separate folder that is shared with the simulator.
- CPS: fixed a bug that affected the initial target dectection for cars that were not tracked by computer 0.
- CPS: implemented linear error correction for the computation of camera position.
- CPS: now compute and send also the 2D speed of the cars. This makes Andrea CPS not compatible to previous ca2 versions and my ca2 not compatible with previous version of CPS.
CAMERA MEASUREMENT ERROR CORRECTION
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- The testbed is not completely flat, there are slight slopes. A car that runs on a circle with constants steer and pwm shows low frequency oscillations on its speed (measured with the encoder) because of this.
- Battery status greatly affects the engine performances.There was a bug in the CPS code that affected the initial target dectection for cars that were not tracked by computer 0. It's fixed now but old CPS should not be used (at least Kevin's and Leo's).