18. Project devlopment¶
As I haven’t done this week late into my final project, I will be writing this from the perspective of after deciding to roll over.
What tasks have been completed?¶
So far, I have a CNC’d product with motors and wheels attatched. I have also done all of the CAD and CAM work for these parts, and have a very put together project. In terms of electrical progress, I have a final project board designed and milled, and I feel that I will not need another board after this. For inputs and outputs, I am able to get readings from the sensors. I am also able to control the motors with the L298N motor driver. I have all the parts I need to finish my project right now as well.
What tasks remain?¶
Right now, I still have no interface to control the wagon, and I am not sure how I will do it. My goal is to integrate the BNO05 and VL53L1X into a central system so that the wagon is able to move to a calculated heading. I am thinking about doing this with a PID control loop.
What has worked, what hasn’t¶
Right now, everything is working mechanically, and the wagon is able to move. However, controlling the wagon with a PID loop has not worked. The wagon stops when it reaches the desired heading, and it oscilates too quickly to reach the heading. The emergency stop with the VL53L1X, however, is working perfectly. Also, I am able to get setpoint values calculated from the BNO05. I also tried to do bluetooth communications, which has not worked. Vision with the VL53L1X has not been working, and I instead intend to find a better system for control.
What questions need to be reolved?¶
The major question that needs to be resolved is how will the wagon be interfaced and controlled. While my plan is currently to use a PID loop, I am open to other options. I am also considering control over bluetooth, control with a camera and a ML computer vision system, Infared control, and Radio control. I also need to figure out how to do my wiring, and how to organize it. I currently plan to use a 3d printed box, but I need a system of connectors.
What will happen when?¶
I plan to spend the next view days doing research on the best way to control my wagon, then I will continue to spend my time implementing this solution. I believe that after I implement my control solution, I will have enough time to manage my project’s wiring, and make my slide and video, as well as make my project in a presentable state.
What have you learned?¶
I have learned a lot with this project, I’ve learned new skills with the CNC machine in terms of joints and routing. I’ve learned new skills in electronics, such as controlling motors with the l298n, recieving inputs via I2C, such as with the BNO05 and the VL53L1x. I’ve learned a lot about control theory and PID. More importantly than any of these though, I’ve learned project management. I’ve learned how to prioritze different things and when, how to multitask and integrate different systems, and how to document work thoroughly so I can reference back to it later.