Tests and calibration

Main communication tests

All the communication test has been done during week 16 : Interface and application programming. As you can see on the video below it work really fine and the link is very robust :

Orientation and regulation test

Regulation test were also very quick at I have all the works done during previous week :

• Hall sensor reading
• Motor speed control

So it works very quickly.

For the orientation, the basics worked also very quickly has the code is very similar to the one for the hall sensor has it involve time measurement. But, I’ve got an issue on the reading : I got a “ghost” reading at a position between 48° and 68°. It take a will to me to determine why it happen and I finally find that the sensor is detecting the reflect of the gear !

So, for my tests, I put one line to avoid this issue and I’m trying to find a better way to avoid that. Maybe by placing a black and non reflective part onto the gear ?

But it works fine.

Distance

The distance is a little bit tricky. First I try to measure some points at different distances and try to find the law. But it appears that with my sensor, the rotation of the sensing cone is a nightmare ! So I decided to move to a new kind of sensor, and not an infrared one but a laser.

Calibration	Calibration

Conclusion

All of the project works. I just need to accelerate the speed by changing the motor and all could be very fine. The distance need to be improved but, as it’s a modular conception, the sensor can be easily changed. I would like to try with a version of my sensor but in laser way, and Neil give me a very good reference of a TOF laser sensor : the vl53l0x. It could be a great replacement sensor and a different way to sense the distance.

As a conclusion I also put the slide from my presentation below and you can find the video of my presentation here.