Justin Poh
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    • Course Projects >
      • Mechanical Engineering/Material Science >
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System's quite buggy

2/14/2016

 
So turns out the achievement's getting less and less glorious every time we test it. 

It seems the gloriously working teleop system has a few painful bugs to work out. Most notably, the network reliability is very much on a downhill trend. More and more frequently, our drive controls are resetting themselves which is upsetting and suggests that there might be other potential problems with the UDP transmission we're relying on. That'll be a major thing to fix. 

Also, after turning up our steering motor voltage and tuning our PID constants as best as possible, we're still getting a little oscillation in the steering wheel. So we might try turning up the I gain and/or turning down the motor voltage just a bit. I say that because, while testing with the vehicle on jacks, we had to max out our D gain just to keep the steering system stable. So, it seems like a safer course of action is to turn the motor voltage down a little to keep it stable. Similarly, the jerky gas pedal control is getting more and more annoying and we realized it was because the control loop for the gas pedal runs once per second, which seems way too slow. So, we'll try to turn up the speed of that loop and see if we get smoother gas pedal function.

Lots of problems so lots to do. We've set a second teleop deadline 2 weeks from now to have a second, more reliable version of teleop running. We'll see what happens by then....

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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