https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2014_Group_5&feed=atom&action=historyEmbedded Motion Control 2014 Group 5 - Revision history2024-03-28T22:37:54ZRevision history for this page on the wikiMediaWiki 1.39.5https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2014_Group_5&diff=12399&oldid=prevS071473: /* Evaluation maze challange */2014-07-02T21:56:39Z<p><span dir="auto"><span class="autocomment">Evaluation maze challange</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 22:56, 2 July 2014</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>During the maze challenge PICO did not manage to solve the maze. This was caused by our safety function. If PICO is closer than 0.45 meters ('threshold_safe') to the wall, the ''''safe_distance'''' function will cause PICO to turn with its backside towards the closest point in the maze with respect to PICO (see ''Safety''). During the maze competition the first corridor was relatively small and therefore the 0.45 meter threshold was directly reached. When PICO detects the left corridor the ''''turn_left'''' function will be executed. However, the velocity commands set by the ''''turn_left'''' function are directly overruled by the velocity commands of the ''''safe_distance'''' function. This causesd PICO to turn 180 degrees and turn back into the corridor it came from.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>During the maze challenge PICO did not manage to solve the maze. This was caused by our safety function. If PICO is closer than 0.45 meters ('threshold_safe') to the wall, the ''''safe_distance'''' function will cause PICO to turn with its backside towards the closest point in the maze with respect to PICO (see ''Safety''). During the maze competition the first corridor was relatively small and therefore the 0.45 meter threshold was directly reached. When PICO detects the left corridor the ''''turn_left'''' function will be executed. However, the velocity commands set by the ''''turn_left'''' function are directly overruled by the velocity commands of the ''''safe_distance'''' function. This causesd PICO to turn 180 degrees and turn back into the corridor it came from.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>It can be concluded that the 'threshold_safe' of 0.45 meters was too high for this maze. During the last practice session PICO almost hit the wall with a lower threshold value. Because of safety this value was increased (together with the value for the safety 'threshold_stop') before the maze challenge. It is expected that PICO is able to drive through the first part of the maze if the values of the safety 'threshold_safe' was <del style="font-weight: bold; text-decoration: none;">set lower</del>.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>It can be concluded that the 'threshold_safe' of 0.45 meters was too high for this maze. During the last practice session PICO almost hit the wall with a lower threshold value. Because of safety this value was increased (together with the value for the safety 'threshold_stop') before the maze challenge. It is expected that PICO is able to drive through the first part of the maze if the values of the safety 'threshold_safe' was <ins style="font-weight: bold; text-decoration: none;">lowered</ins>.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Project evaluation =</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Project evaluation =</div></td></tr>
</table>S071473https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2014_Group_5&diff=12397&oldid=prevS071473: /* Evaluation maze challange */2014-07-02T21:55:11Z<p><span dir="auto"><span class="autocomment">Evaluation maze challange</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 22:55, 2 July 2014</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Evaluation maze challange ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Evaluation maze challange ==</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>During the maze challenge PICO did not manage to solve the maze. This was caused by our safety function <del style="font-weight: bold; text-decoration: none;">in the software</del>. If PICO is closer than 0.45 meters ('threshold_safe') to the wall, the ''''safe_distance'''' function will cause PICO to turn with its backside towards the closest point in the maze with respect to PICO (see ''Safety''). During the maze competition the first corridor was relatively small and therefore the 0.45 meter threshold was directly <del style="font-weight: bold; text-decoration: none;">violated</del>. When PICO detects the left corridor the ''''turn_left'''' function will be executed. However, the velocity commands set by the ''''turn_left'''' function are directly overruled by the velocity commands of the ''''safe_distance'''' function<del style="font-weight: bold; text-decoration: none;">. In the corridor straight ahead and the right corridor, PICO detected a dead end</del>. This <del style="font-weight: bold; text-decoration: none;">causes </del>PICO to turn 180 degrees back into the corridor it came from<del style="font-weight: bold; text-decoration: none;">, and drive through the entrance out of the maze</del>.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>During the maze challenge PICO did not manage to solve the maze. This was caused by our safety function. If PICO is closer than 0.45 meters ('threshold_safe') to the wall, the ''''safe_distance'''' function will cause PICO to turn with its backside towards the closest point in the maze with respect to PICO (see ''Safety''). During the maze competition the first corridor was relatively small and therefore the 0.45 meter threshold was directly <ins style="font-weight: bold; text-decoration: none;">reached</ins>. When PICO detects the left corridor the ''''turn_left'''' function will be executed. However, the velocity commands set by the ''''turn_left'''' function are directly overruled by the velocity commands of the ''''safe_distance'''' function. This <ins style="font-weight: bold; text-decoration: none;">causesd </ins>PICO to turn 180 degrees <ins style="font-weight: bold; text-decoration: none;">and turn </ins>back into the corridor it came from.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>It can be concluded that the 'threshold_safe' of 0.45 meters was too high for this maze. During the last practice session PICO <del style="font-weight: bold; text-decoration: none;">hits </del>the wall with a lower threshold value. Because of safety this value was increased (together with the value for the safety 'threshold_stop') before the maze challenge. It is expected that PICO is able to drive through the first part of the maze if the values of the safety 'threshold_safe' was set lower.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>It can be concluded that the 'threshold_safe' of 0.45 meters was too high for this maze. During the last practice session PICO <ins style="font-weight: bold; text-decoration: none;">almost hit </ins>the wall with a lower threshold value. Because of safety this value was increased (together with the value for the safety 'threshold_stop') before the maze challenge. It is expected that PICO is able to drive through the first part of the maze if the values of the safety 'threshold_safe' was set lower.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Project evaluation =</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>= Project evaluation =</div></td></tr>
</table>S071473https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2014_Group_5&diff=12396&oldid=prevS071473: /* Results */2014-07-02T21:52:46Z<p><span dir="auto"><span class="autocomment">Results</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 22:52, 2 July 2014</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Vid6_EMC05.jpg|250px|center|link=https://www.dropbox.com/s/ass2gc3l76l07tz/rec_emc05_3c.wmv]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Vid6_EMC05.jpg|250px|center|link=https://www.dropbox.com/s/ass2gc3l76l07tz/rec_emc05_3c.wmv]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>Below a video of PICO during testing. We can see that PICO is capable <del style="font-weight: bold; text-decoration: none;">to solve </del>a maze with dead-ends and <del style="font-weight: bold; text-decoration: none;">two times arrow detection</del>.<br></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>Below a video of PICO during testing. We can see that PICO is capable <ins style="font-weight: bold; text-decoration: none;">of solving </ins>a maze with dead-ends and <ins style="font-weight: bold; text-decoration: none;">is able to detect arrows</ins>.<br></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Vid5_EMC05.jpg|250px|center|link=https://www.dropbox.com/s/vkj5s97lil80szw/VID-20140630-WA0000_d.wmv]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Vid5_EMC05.jpg|250px|center|link=https://www.dropbox.com/s/vkj5s97lil80szw/VID-20140630-WA0000_d.wmv]]</div></td></tr>
</table>S071473https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2014_Group_5&diff=12395&oldid=prevS071473: /* Results */2014-07-02T21:51:58Z<p><span dir="auto"><span class="autocomment">Results</span></span></p>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Results ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Results ==</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">The </del>video of <del style="font-weight: bold; text-decoration: none;">the </del>simulation <del style="font-weight: bold; text-decoration: none;">with </del>Gazebo shows that PICO <del style="font-weight: bold; text-decoration: none;">was </del>able to solve a complete maze. Note: The video is played at 5 times <del style="font-weight: bold; text-decoration: none;">the </del>original <del style="font-weight: bold; text-decoration: none;">one</del>.<br></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">This </ins>video of <ins style="font-weight: bold; text-decoration: none;">a </ins>simulation <ins style="font-weight: bold; text-decoration: none;">in </ins>Gazebo shows that PICO <ins style="font-weight: bold; text-decoration: none;">would have been </ins>able to solve a complete maze. Note: The video is played at 5 times original <ins style="font-weight: bold; text-decoration: none;">speed</ins>.<br></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Vid6_EMC05.jpg|250px|center|link=https://www.dropbox.com/s/ass2gc3l76l07tz/rec_emc05_3c.wmv]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Vid6_EMC05.jpg|250px|center|link=https://www.dropbox.com/s/ass2gc3l76l07tz/rec_emc05_3c.wmv]]</div></td></tr>
</table>S071473https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2014_Group_5&diff=12351&oldid=prevS120448: /* Project evaluation */2014-07-02T18:01:50Z<p><span dir="auto"><span class="autocomment">Project evaluation</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 19:01, 2 July 2014</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The most challenging parts in our project were:<br></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The most challenging parts in our project were:<br></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>- ''Averaging:'' In the laser data there could be some ghost points. We have used averaging to reduce the effect of these ghost points to make it more robust.<br></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>- ''Averaging:'' In the laser data there could be some ghost points. We have used averaging to reduce the effect of these ghost points to make it more robust.<br></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>- ''Safedrive:'' During some simulations PICO came too close to the wall and stopped. To prevent PICO from hitting the wall we have added the safety function, which turns until the minimal distance is behind PICO. This will prevent PICO from moving towards the wall, while still being able to continue.<br></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>- ''Safedrive:'' During some <ins style="font-weight: bold; text-decoration: none;">tests (and also </ins>simulations<ins style="font-weight: bold; text-decoration: none;">) </ins>PICO came too close to the wall and stopped. To prevent PICO from hitting the wall we have added the safety function, which turns until the minimal distance is behind PICO. This will prevent PICO from moving towards the wall, while still being able to continue.<br></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>- ''Resetting:'' After the PICO has made a turn the function should reset the action mode, such that a new command can be given to PICO. We had some problems with the reset and PICO stayed too long in certain modes. In order to prevent this we have used two resets to ensure that the mode will be reset. One of these resets is based on the laser data and the other one is based on the odometry of PICO.<br></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>- ''Resetting:'' After the PICO has made a turn the function should reset the action mode, such that a new command can be given to PICO. We had some problems with the reset and PICO stayed too long in certain modes. In order to prevent this we have used two resets to ensure that the mode will be reset. One of these resets is based on the laser data and the other one is based on the odometry of PICO.<br></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>- ''Code structure:'' It was difficult to create a clear and easy to use code. We have tried to make the code clear for everyone in the group by dividing the code into functions and by explaining these functions using comments. We tried to improve the structure of the code for better readability, but it can still be improved further.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>- ''Code structure:'' It was difficult to create a clear and easy to use code. We have tried to make the code clear for everyone in the group by dividing the code into functions and by explaining these functions using comments. We tried to improve the structure of the code for better readability, but it can still be improved further.</div></td></tr>
</table>S120448https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2014_Group_5&diff=11741&oldid=prevS120448: /* Project evaluation */2014-06-30T10:49:24Z<p><span dir="auto"><span class="autocomment">Project evaluation</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:49, 30 June 2014</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l314">Line 314:</td>
<td colspan="2" class="diff-lineno">Line 314:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>- ''Safedrive:'' During some simulations PICO came too close to the wall and stopped. To prevent PICO from hitting the wall we have added the safety function, which turns until the minimal distance is behind PICO. This will prevent PICO from moving towards the wall, while still being able to continue.<br></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>- ''Safedrive:'' During some simulations PICO came too close to the wall and stopped. To prevent PICO from hitting the wall we have added the safety function, which turns until the minimal distance is behind PICO. This will prevent PICO from moving towards the wall, while still being able to continue.<br></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>- ''Resetting:'' After the PICO has made a turn the function should reset the action mode, such that a new command can be given to PICO. We had some problems with the reset and PICO stayed too long in certain modes. In order to prevent this we have used two resets to ensure that the mode will be reset. One of these resets is based on the laser data and the other one is based on the odometry of PICO.<br></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>- ''Resetting:'' After the PICO has made a turn the function should reset the action mode, such that a new command can be given to PICO. We had some problems with the reset and PICO stayed too long in certain modes. In order to prevent this we have used two resets to ensure that the mode will be reset. One of these resets is based on the laser data and the other one is based on the odometry of PICO.<br></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>- ''Code structure:'' It was difficult to create a clear and easy to use code. We have tried to make the code clear for everyone in the group by explaining <del style="font-weight: bold; text-decoration: none;">the function </del>using comments <del style="font-weight: bold; text-decoration: none;">in the code</del>. We tried to improve the structure of the code for better readability, but it can still be improved further.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>- ''Code structure:'' It was difficult to create a clear and easy to use code. We have tried to make the code clear for everyone in the group <ins style="font-weight: bold; text-decoration: none;">by dividing the code into functions and </ins>by explaining <ins style="font-weight: bold; text-decoration: none;">these functions </ins>using comments. We tried to improve the structure of the code for better readability, but it can still be improved further.</div></td></tr>
</table>S120448https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2014_Group_5&diff=11740&oldid=prevS120448: /* Project evaluation */2014-06-30T10:48:08Z<p><span dir="auto"><span class="autocomment">Project evaluation</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:48, 30 June 2014</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l311">Line 311:</td>
<td colspan="2" class="diff-lineno">Line 311:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The most challenging parts in our project were:<br></div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>The most challenging parts in our project were:<br></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>- ''Averaging''<del style="font-weight: bold; text-decoration: none;"><br></del></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>- ''Averaging<ins style="font-weight: bold; text-decoration: none;">:</ins>'' In the laser data there could be some ghost points. We have used averaging to reduce the effect of these ghost points to make it more robust.<br></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>In the laser data there could be some ghost points. We have used averaging to reduce the effect of these ghost points to make it more robust.<br></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>- ''Safedrive<ins style="font-weight: bold; text-decoration: none;">:</ins>'' During some simulations PICO came too close to the wall and stopped. To prevent PICO from hitting the wall we have added the safety function, which turns until the minimal distance is behind PICO. This will prevent PICO from moving towards the wall, while still being able to continue.<br></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>- ''Safedrive''<del style="font-weight: bold; text-decoration: none;"><br></del></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>- ''Resetting<ins style="font-weight: bold; text-decoration: none;">:</ins>'' After the PICO has made a turn the function should reset the action mode, such that a new command can be given to PICO. We had some problems with the reset and PICO stayed too long in certain modes. In order to prevent this we have used two resets to ensure that the mode will be reset. One of these resets is based on the laser data and the other one is based on the odometry of PICO.<br></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>During some simulations PICO came too close to the wall and stopped. To prevent PICO from hitting the wall we have added the safety function, which turns until the minimal distance is behind PICO. This will prevent PICO from moving towards the wall, while still being able to continue.<br></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>- ''Code structure<ins style="font-weight: bold; text-decoration: none;">:</ins>'' It was difficult to create a clear and easy to use code. We have tried to make the code clear for everyone in the group by explaining the function using comments in the code. We tried to improve the structure of the code for better readability, but it can still be improved further.</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>- ''Resetting''<del style="font-weight: bold; text-decoration: none;"><br> </del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>After the PICO has made a turn the function should reset the action mode, such that a new command can be given to PICO. We had some problems with the reset and PICO stayed too long in certain modes. In order to prevent this we have used two resets to ensure that the mode will be reset. One of these resets is based on the laser data and the other one is based on the odometry of PICO.<br></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>- ''Code structure''<del style="font-weight: bold; text-decoration: none;"><br></del></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>It was difficult to create a clear and easy to use code. We have tried to make the code clear for everyone in the group by explaining the function using comments in the code. We tried to improve the structure of the code for better readability, but it can still be improved further.</div></td><td colspan="2" class="diff-side-added"></td></tr>
</table>S120448https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2014_Group_5&diff=11739&oldid=prevS120448: /* Project evaluation */2014-06-30T10:46:59Z<p><span dir="auto"><span class="autocomment">Project evaluation</span></span></p>
<table style="background-color: #fff; color: #202122;" data-mw="interface">
<col class="diff-marker" />
<col class="diff-content" />
<col class="diff-marker" />
<col class="diff-content" />
<tr class="diff-title" lang="en">
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td>
<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:46, 30 June 2014</td>
</tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l310">Line 310:</td>
<td colspan="2" class="diff-lineno">Line 310:</td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In the development of the software we tried to keep it as simple as possible. This means that we have discussed the necessity of every new functionality. As a result the used code is relatively short but PICO is still able to perform its tasks. A clear advantage of this approach is that the code is easy to read and debug. Also runtime errors are easily solved because it is easy to see in which part the problem occurs.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In the development of the software we tried to keep it as simple as possible. This means that we have discussed the necessity of every new functionality. As a result the used code is relatively short but PICO is still able to perform its tasks. A clear advantage of this approach is that the code is easy to read and debug. Also runtime errors are easily solved because it is easy to see in which part the problem occurs.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>The most challenging parts in our project were:</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>The most challenging parts in our project were:<ins style="font-weight: bold; text-decoration: none;"><br></ins></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>- Averaging<del style="font-weight: bold; text-decoration: none;">:</del><br></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>- <ins style="font-weight: bold; text-decoration: none;">''</ins>Averaging<ins style="font-weight: bold; text-decoration: none;">''</ins><br></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>In the laser data there could be some ghost points. We have used averaging to reduce the effect of these ghost points to make it more robust.</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>In the laser data there could be some ghost points. We have used averaging to reduce the effect of these ghost points to make it more robust.<ins style="font-weight: bold; text-decoration: none;"><br></ins></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">- ''</ins>Safedrive<ins style="font-weight: bold; text-decoration: none;">''</ins><br></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>Safedrive<del style="font-weight: bold; text-decoration: none;">:</del><br></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>During some simulations PICO came too close to the wall and stopped. To prevent PICO from hitting the wall we have added the safety function, which turns until the minimal distance is behind PICO. This will prevent PICO from moving towards the wall, while still being able to continue.<ins style="font-weight: bold; text-decoration: none;"><br></ins></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>During some simulations PICO came too close to the wall and stopped. To prevent PICO from hitting the wall we have added the safety function, which turns until the minimal distance is behind PICO. This will prevent PICO from moving towards the wall, while still being able to continue. </div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">- ''</ins>Resetting<ins style="font-weight: bold; text-decoration: none;">''</ins><br> </div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>After the PICO has made a turn the function should reset the action mode, such that a new command can be given to PICO. We had some problems with the reset and PICO stayed too long in certain modes. In order to prevent this we have used two resets to ensure that the mode will be reset. One of these resets is based on the laser data and the other one is based on the odometry of PICO.<ins style="font-weight: bold; text-decoration: none;"><br></ins></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>Resetting<del style="font-weight: bold; text-decoration: none;">:</del><br> </div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">- ''</ins>Code structure<ins style="font-weight: bold; text-decoration: none;">''</ins><br></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>After the PICO has made a turn the function should reset the action mode, such that a new command can be given to PICO. We had some problems with the reset and PICO stayed too long in certain modes. In order to prevent this we have used two resets to ensure that the mode will be reset. One of these resets is based on the laser data and the other one is based on the odometry of PICO.</div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>Code structure<del style="font-weight: bold; text-decoration: none;">:</del><br></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>It was difficult to create a clear and easy to use code. We have tried to make the code clear for everyone in the group by explaining the function using comments in the code. We tried to improve the structure of the code for better readability, but it can still be improved further.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>It was difficult to create a clear and easy to use code. We have tried to make the code clear for everyone in the group by explaining the function using comments in the code. We tried to improve the structure of the code for better readability, but it can still be improved further.</div></td></tr>
</table>S120448https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2014_Group_5&diff=11738&oldid=prevS120448: /* Project evaluation */2014-06-30T10:45:36Z<p><span dir="auto"><span class="autocomment">Project evaluation</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:45, 30 June 2014</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In the development of the software we tried to keep it as simple as possible. This means that we have discussed the necessity of every new functionality. As a result the used code is relatively short but PICO is still able to perform its tasks. A clear advantage of this approach is that the code is easy to read and debug. Also runtime errors are easily solved because it is easy to see in which part the problem occurs.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In the development of the software we tried to keep it as simple as possible. This means that we have discussed the necessity of every new functionality. As a result the used code is relatively short but PICO is still able to perform its tasks. A clear advantage of this approach is that the code is easy to read and debug. Also runtime errors are easily solved because it is easy to see in which part the problem occurs.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">'''Challenges'''</del></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">The most challenging parts in our project were:</ins></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div> </div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">- </ins>Averaging:<br></div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>Averaging:<br></div></td><td colspan="2" class="diff-side-added"></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In the laser data there could be some ghost points. We have used averaging to reduce the effect of these ghost points to make it more robust.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In the laser data there could be some ghost points. We have used averaging to reduce the effect of these ghost points to make it more robust.</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
</table>S120448https://cstwiki.wtb.tue.nl/index.php?title=Embedded_Motion_Control_2014_Group_5&diff=11737&oldid=prevS111714: /* Results */2014-06-30T10:40:43Z<p><span dir="auto"><span class="autocomment">Results</span></span></p>
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<td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 11:40, 30 June 2014</td>
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<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Results ==</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>== Results ==</div></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>The video of the simulation with Gazebo shows that PICO was able to solve a complete maze.<br></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>The video of the simulation with Gazebo shows that PICO was able to solve a complete maze<ins style="font-weight: bold; text-decoration: none;">. Note: The video is played at 5 times the original one</ins>.<br></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Vid6_EMC05.jpg|250px|center|link=https://www.dropbox.com/s/ass2gc3l76l07tz/rec_emc05_3c.wmv]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Vid6_EMC05.jpg|250px|center|link=https://www.dropbox.com/s/ass2gc3l76l07tz/rec_emc05_3c.wmv]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div><del style="font-weight: bold; text-decoration: none;">Testing</del><br></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">Below a video of PICO during testing. We can see that PICO is capable to solve a maze with dead-ends and two times arrow detection.</ins><br></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Vid5_EMC05.jpg|250px|center|link=https://www.dropbox.com/s/vkj5s97lil80szw/VID-20140630-WA0000_d.wmv]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Vid5_EMC05.jpg|250px|center|link=https://www.dropbox.com/s/vkj5s97lil80szw/VID-20140630-WA0000_d.wmv]]</div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>During the final maze a video was made which shows that PICO was not able to solve the maze.<br></div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>During the final maze a video was made which shows that PICO was not able to solve the maze<ins style="font-weight: bold; text-decoration: none;">. This will be further explained in "Evaluation maze challenge"</ins>.<br></div></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br/></td></tr>
<tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Vid4_EMC05.jpg|250px|center|link=https://www.dropbox.com/s/3wk5lqrrbtoxswr/VID_20140627_144317_b.wmv]]</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>[[File:Vid4_EMC05.jpg|250px|center|link=https://www.dropbox.com/s/3wk5lqrrbtoxswr/VID_20140627_144317_b.wmv]]</div></td></tr>
</table>S111714