Justin Poh
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Emergency Stop Upgrade

3/4/2016

 
This past week, on the hardware side, the team finally received the shipment of parts we needed to perform the emergency stop system upgrade to bring more actuators on the vehicle under emergency stop control. We also added a relay that was controllable by the software in order to allow LabVIEW to trip the emergency stop when necessary and also to ensure that any glitches or freezes in the software would trip the emergency stop even if the human operator failed to notice the software glitch. 

To do this, we essentially upgraded several essential parts:
  1. We converted the only double-pole double-throw (DPDT) relay on the vehicle into a 3PDT relay to give us an additional channel controlled by the relay
  2. We added an additional 3PDT relay to give us an additional 3 channels controlled by the relay
  3. We added a DPDT relay with a 5V coil voltage to allow LabVIEW to control the relay. 

However, we made the mistake of failing to account for the fact that the NI9401 DIO module that we're using can't source enough current to run the relay. So, instead, we're attempting to use a transistor to allow us to source 1mA to drive a transistor in order to generate the 0.25A we need to drive the 5V DPDT relay. So, most of the system is now in place except for the LabVIEW control of the relay because we have yet to finish installing the transistor into the relay system. 

On the ROS front, we've made steady progress bringing in sensor data from LabVIEW to ROS and should soon begin installing ROS navigation stack packages. We originally set an initial test deadline for this coming week. However, with spring break occurring the week after this comign one and the fact that we have had a couple of delays in the project, we may push that test deadline back to the week after spring break or so.

​That's it for now!

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    Gator Research Blog

    Welcome to the Gator Research Blog for the Sprint 2016 semester! The aim of this research will be to develop the software to enable drive-by-wire on a John Deere Gator and to begin developing a system for generating depth-registered images.  Follow our progress here!
Last Updated: 13th May 2022
  • Home
  • About Me
  • Publications
  • Resume
  • Undergrad Work
    • 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
    • Undergrad Research >
      • Gator Research, Spring 2016
      • Gator Research, Fall 2015
      • Robotic Tuna Research, Fall 2014
      • Robotic Tuna Research, Summer 2014
    • Phoenix Racing