As part of the Blue Block Challenge I’m using the OpenCV library to detect and track objects based on their color only. In the process I created an Mac application to help develop the algorithms.
While visiting the mini maker faire last month at OMSI, I discovered a local robotics club called PARTS (Portland Area Robotics Society) and managed to attend their most recent meeting … Continue reading
Now that the first version of NavBot is complete it is time to think about how to scale things up… and an 8 bit Atmel microcontroller is not the answer.
How to test and modify the PID coefficients for NavBot’s Pilot.
Created a new bot better suited for dead reckoning navigation. And the results?
During the development of the NavBot I was forced to deal with and understand the systematic errors (and non-systematic errors) of the Zumo chassis. Maybe I’m expecting too much from a tracked-based dead-reckoning bot.
Short video of the Pilot’s first movement tests.
It’s alive! Kind of….
Now that the WallBot has functioning wheel encoders I’m eager to evolve it from a simple wall-avoiding robot to one that can autonomously navigate its environment.
First I need to design how the software will work.
Put together a quick and dirty dead reckoning experiment now that the encoders and PID controller are working. Very happy with the results, even if they are superficial.
With the encoders working it’s time to tune the PID controller for driving in straight lines.
Discovered there was an alternate and simpler solution than using Trinket.
Also received a bluetooth module and put it to use.
Finally completed the Zumo build, code and all. It was way more work than I bargained for.
Ended up adding a second microprocessor (The Trinket) to handle sensor and servo functions, implemented an I2C slave and wrangled new interrupt-driven servo code.