Justin Poh
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Finally! Drive by Wire!

10/8/2015

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If you've read the previous post I wrote, it's been almost a month since I last posted about this project. But I have good news! We're now firmly off the ground on research! 

This week marked the point at which we now have a known working functional base robot that we can use to continue the research! Over the last few weeks, we have struggled to get an accurate assessment of all the existing hardware and whether there is anything that needs to be replaced. However, we finally have a working vehicle that is capable of drive by wire!


You'll notice in the videos that there is always someone managing a cable of some kind. That's just an umbilical cord we have to power the electronics bay. Typically, the vehicle would have a generator running in the cargo bay to power the electronics bay. However, we recently ran into problems getting the generator to run so for these tests, we were relying on building power to keep the electronics bay running. 

You'll also notice that the driving is a little jerky and that's because we're all still new to the concept of driving a vehicle by wire. Turns out, when you close the loops on velocity control in an FPGA and only expose the desired speed parameter, controlling that parameter using the trigger control on an XBOX controller is not the easiest way to control a vehicle! So we'll be updating that control scheme so that you use the upper trigger buttons instead of the lower trigger button to control speed. This way, the left and right buttons could be used to increment or decrement the desired speed, kind of like how one would change the speed of a car when it is in cruise control.

That's it! More in another post to come about sensor characterization!
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    Gator Research Blog

    Welcome to the Gator Research Blog for the Fall 2015 semester! The aim of this research will be to develop the software to allow a John Deere Gator to navigate a mini-baja-type course autonomously. Follow our progress here!

Last Updated: 27th January 2021
  • Home
  • About Me
  • Course Projects
    • Mechanical Engineering/Material Science >
      • Design Nature, Fall 2012
      • Transport Phenomena, Fall 2014
      • Mechanical Design, Fall 2014
      • MechSolids, Spring 2014
      • Dynamics, Fall 2013
    • Robotics >
      • Principles of Engineering, Fall 2013
      • Fundamentals of Robotics, Fall 2014
    • Product Design & Development >
      • NEADS System Design, Fall 2015
      • UOCD, Spring 2014
      • Engineering for Humanity, Spring 2013
    • Electrical/Software Engineering >
      • Software Design, Fall 2013
      • Real World Measurements, Spring 2013
      • Modeling & Control, Fall 2012
    • Data Science & Analysis >
      • Analyzing Gait Data, Spring 2015
      • Crowd Flow Modeling, Spring 2015
  • Undergraduate Research
    • Gator Research, Spring 2016
    • Gator Research, Fall 2015
    • Robotic Tuna Research, Fall 2014
    • Robotic Tuna Research, Summer 2014
  • Resume
  • Job History
  • Phoenix Racing