Embedded Motion Control 2019 Group 5: Difference between revisions
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The main objective for PICO is to "deliver" the medicines from one cabinet to another which will be defined by the judges just before the challenge starts. The PICO will be operating under an environment amidst static and dynamic obstacles. | The main objective for PICO is to "deliver" the medicines from one cabinet to another which will be defined by the judges just before the challenge starts. The PICO will be operating under an environment amidst static and dynamic obstacles. | ||
[[Media:Design_document_Hospital_group5.pdf | here]] | |||
Revision as of 09:35, 20 May 2019
Welcome to the Wiki Page for Group 5 in the Embedded Motion Control Course (4SC020) 2019. This page contains the design plans and other details of our work in this course.
Team Members
| Yi Qin | 1328441 | |
| Muliang Du | 1279874 | |
| Winston Mendonca | 1369237 | |
| Shubham Ghatge | 1316982 | |
| Robert Rompelberg | 0905720 | |
| Mayukh Samanta | 1327720 |
Design Document
The initial design plan for the Escape room challenge and Hospital challenge with the PICO robot could be found here.
- I just write the subtitles that are important I think and ignore the others. -- YI
Requirements
Functions
Interfaces
Escape Room Challenge Execution
- Introductions about functions of code. Explain each mode more or less in order to let readers know what happened in our PICO. Just like what Winston did in Tuesday evening. -- YI
Startup
This mode involves computing the required angle for PICO to complete a full 360 degree view if needed. Once the angle has been determined the state switches to SCAN_FOR_EXIT.
Scan for exit
This mode searches for an exit in its available field of view which is around 230 degrees. If it does not manage to find an exit in this field of view, it uses the angle computed in the STARTUP to complete to rotate until it manages to find the exit. If it happens to be the case that it still did not manage to find any exit it switches to a state MOVE_TO_MAX. This scenario is generally encountered if PICO is initially put in a corner adjacent to the exit wall.
Move to max
Face exit
Exit undetectable
Orient to exit wall
Drive to exit
Enter exit corridor
Exit corridor follow
Stop
Hospital Competition
The main objective for PICO is to "deliver" the medicines from one cabinet to another which will be defined by the judges just before the challenge starts. The PICO will be operating under an environment amidst static and dynamic obstacles.