Difference between revisions of "2021SpringTeam4"
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== Issues and Fixes == | == Issues and Fixes == | ||
Revision as of 15:37, 11 June 2021
Spring 2021 Team 4
Team 4 achieved driving multiple laps on autonomous outdoor track using both Donkey Car and ROS.
Final picture of team's 4 car used throughout the winter 2021 quarter
Team Members
- Karen Hernandez - Electrical Engineering
- Jan Schüürmann - Mechanical Engineering
- Bryant Liu - Computer Engineering
- Joe Wayne - Mechanical Engineering
The members in the picture are standing in the order mentioned above (from left to right on the image)
Instructors
- Mauricio de Oliveira
- Jack Silberman
Teacher's Assistants
- Dominic Nightingale - Mechanical Engineering
- Haoru Xue - Electrical Engineering
Objective
Hardware
Components
Chassis
The chassis given by the instructor at the beginning of the quarter is the following:
Wiring Schematic
In order to make the components work as desired, we connected them according to the wire schematic shown below. This includes all the hardware required:
Base Plate
For us to have flexibility when it comes to mounting hardware onto the base plate, we decided to design a plate that had mounting holes all throughout. This plate is mounted on four 2-inch stand-offs from the bottom of the chassis, such that the battery, speed controller and steering servo motor are located underneath the base plate. All other components are located on the top part of the base plate.
CAD of the base plate design
Final product of the base plate
We used a Lasercamm for cutting a 1/4" acryllic
Note: This also shows the Jetson Nano bottom part of the 3D printed shell mounted onto the base plate. The design for the Jetson Nano shell was not design by the team, link to online free CAD is [[1]] . The only change was that we added the side mounts.
Camera
The camera shell for the camera was designed so that it would protect the camera, with extended covering from the top part so that the lighting would not affect the image. The camera shell is connected by velcro to an elevated plate that is connected to the base plate by stand-offs. It is important to mention that the angle used for the camera shell design was different for each project of the class. The images below are for the camera mount and shell used on the final project.
Camera mount CAD
Front view
Side view
Top view
Back view
Camera mount
Used a MakerBot Method for PLA printing & rapid prototyping
Front view
Side view
Camera stand CAD
The idea position of the camera mount changed depending on the task we were working on. Thus, we designed a stand with adjustable height where the camera mount was attached to.
Camera stand
Camera Stand
Mounted Stand
Software
Environment Configuration
AprilTags
ROS Wrapper
ROS Package
Description
Dependencies
cv2
adafruit_servokit
cv_bridge
simple-pid
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