EE192: Mechatronics Design LabCheckpoint 8By this checkpoint, you should have a rough version of the entire project done. Your car should be able to follow a track, which will be set up in a figure-8 shape and following NATCAR specifications (single bright line in the center of the track on beige-ish carpet). Your control loop should be stable enough to not lose the track or be confused by the self-crossing track. You will also be required to show plots from your car's telemetry. I recommend taking a look at the telem_struct in LineCamera.c for getting started with saving batch telemetry. You can build off of the python plotting from homework 1 or the Matlab plotting provided with homework 2 for generating the plots. The figure-8 track specifications are follows:
Checkoff Procedure
1. waterfall plot of raw line camera data or plot of detected line position (in cm) 2. velocity in m/s or cm/s 3. steering servo command from -1.0 (full left) to 1.0 (full right) or -100 to 100 if you prefer ints. 4. motor duty cycle (-1.0 full backwards/braking to 1.0 full forwards or -100 to 100). If you are using an H-bridge with both reverse and braking functionality you should plot multiple signals. |