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- 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.
NEXT STEPS
CPS
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2D SPEED
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CAMERA MEASUREMENT ERROR CORRECTION
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TODO: a filter Kalman has been implemented on the car in hopes of removing the remaining part of the noise. The model still needs to be refined though in order to test its true usefulness.
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2D SPEED
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CAR MODEL
EFFECT OF PWM AND STEER INPUT ON THE SPEED DYNAMICS
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The behavior dynamic of the car speed is likely caused by the capacitor that filter the power source. When the car is not running the circuit is in steady state condition. When it runs the equilibrium moves and the capacitor slowly discharges.
DOCUMENTATION EXPANSION
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THINGS I WOULD HAVE LIKED TO BE DOCUMENTED
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TROUBLESHOOTING
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- CPS
- The car number is on the heatsink on the motherboard hidden under the adhesive paper ring.
- Car circuit model.
- CPS code currently doesn't compute the vehicle heading by checking the line on the cars' symbols. It just checks the previous and the current position to do it.
- How to use Moto.exe.
- There's no differential on the rear axis.
- Troubleshooting CPS: one must pay attention whether there is some overlapping area between two adjacent cameras.
- Troubleshooting motherboard: substitute power supply unit (PSU) when there no signal from motherboard (connect to the screen to test it).
- Troubleshooting car: ca2 ca2 "Host-Stem Link: DOWN" message: try to reset baudrate console and set it back. Otherwise hardware reset. Suggestions about how to perform the hardware reset procedure (attach resistor to serial cables). Differentiate between reset brainstem (tea and reflex files are not touched) and configuring a brand new card.
- Troubleshooting car: car is slower than others. Check that h-bridge connections to power and motor are solid. Check that all wheels spin fine and eventually clean and grease the faulty bearing.
- Troubleshooting car: encoder no signal, check serial cable connected in the proper way (link to h-bridge and encoder datasheet).
- Troubleshooting car: motor doesn't run. Check h-bridge connection to power and to motor or reset brainstem.
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TO DOCUMENT
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- The car number is on the heatsink on the motherboard hidden under the adhesive paper ring.
- Car circuit model.
- CPS code currently doesn't compute the vehicle heading by checking the line on the cars' symbols. It just checks the previous and the current position to do it.
- How to use Moto.exe.
- There's no differential on the rear axis.