CURRENT LAB PROBLEMS
- The motherboard of car2 seems fried. I've tried to connect it to a screen and there was no signal.
- 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.
THINGS I WOULD HAVE LIKED TO BE DOCUMENTED
- 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.
NOTES
- 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).