Difference between revisions of "Misti (IGVC)"
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[[IGVC 2013 Electrical Drive System | Here is the drive system electronics for this year.]] | [[IGVC 2013 Electrical Drive System | Here is the drive system electronics for this year.]] | ||
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=== Software Issues & Improvements === | === Software Issues & Improvements === |
Revision as of 17:23, 30 June 2019
Mistii | |
---|---|
Year Of Creation | 2012-2013 |
Versions | |
Current Version | deprecated |
Update Year | 2013-2014 |
Information and Statistics | |
Farthest Distance | n/a |
Fastest Time | n/a |
Highest Placement AutoNav | n/a |
Highest Placement Design | 4th |
Competitions
IGVC 2013
- Bot Version: Misti
- Results:
- Distance: n/a
- Design Competition Placement: 8th (996.33 / 1200 points)
- AutoNav Competition Placement: n/a
IGVC 2014
- Bot Version: Mistii
- Results:
- Distance: n/a
- Design Competition Placement: 12th (779.67 / 1200 points)
- AutoNav Competition Placement: n/a
IGVC 2015
- Bot Version: Mistii
- Results:
- Distance: n/a
- Design Competition Placement: 4th (1010.67 / 1200 points)
- AutoNav Competition Placement: n/a
Versions
Misti
At Competition
Mechanical Issues & Improvements
Drive Train:
- Drive: Tank/skid steer
- Motor: AmpFlow A28-400 Motor
- Website: AmpFlow Motors
- Performance Charts
- Quantity: 2
- Combined 9 peak horsepower
- Redundant motor controllers
- Custom gearboxes
- CNC milled boxes
- 2 stage reduction
- Total reduction 30:1
Sensors: Misti was designed to accommodate all the sensors with the following design principles:
- Protect from environment
- Maintain accessibility
- Modular mounts: Isolate change propagation
Interface:
- Panel with clearly identified and accessible buttons, switches, and guages
- Safety:
- Multiple remotes for wireless E-stop
- Wired E-stop at operator's forehead level
Electronics: Misti took advantage of the wider front and rear trays to make the electronics more accessible:
- Power distribution tray mounted to removable static dissipative panel for servicing.
- Reduce wiring mess:
- Motor controllers mounted near motors
- Micro-controllers mounted near laptop
Electrical Issues & Improvements
Here are the sensor selections for this year.
Here is the drive system electronics for this year.
Software Issues & Improvements
Development:
- IGVC GIT HOWTO : We use Git as our code management system, and this will explain how to acquire and update the code base.
- File:IGVC-UnitTestingWithBoostFramework.pdf : This presentation will introduce you to using Boost libraries for unit testing.
Operating Systems Requirements: Ubuntu 12.04
Library Dependencies:
- Boost
- OpenCV
- PCL (PointCloud Library)
- Qt 5
- Point Grey Libraries
- Flycatpure
- Triclops
Other things:
- Software "flowchart":
- loop
Vision Calls camera code Lidar RobotPosition Calls GPS, Mag, IMU, and Encoders Map(Vision, Lidar, RobotPosition) PotentialFields(Map) OSMC(PotentialFields)