harvardurc / mate_rov Goto Github PK

Should take in a command message and move the camera using a servo as requested.

Also need to update joystickModule to send camera tilt.

Write an Ino sketch that receives a command message (x, y, z, pan, tilt, yaw) from an Raspberry Pi through a serial connection.

We need to document the Arduino code.

Get data from the OBS through WiFi. Pass it to the UX graph module for OBS data.

The loop should control thrusters directly using the command gotten from the Pi.

Tell thrusters to just stop until you re-enable them. Also anything to reset the ROV if it goes wild.

Write a Robomodules module, that subscribes to the video messages and every time it gets a frame, it displays it.

It's the little orange V with wings shaped thing.

You should use pygame.draw.lines and draw the lines on the display that is saved as an instance variable in the NavBall class.

The ino sketch should run a PID loop to control the 6 thrusters using feedback from the imu.
The sketch should also have a communications line with the pi over a serial connection.
Whenever the sketch gets a control message, it should update the set point of the PID loop.

The yaw, pitch and roll set point should be incremental. This means that when the sketch receives a message that updates the yaw, then the loop should permanently move the yaw set point in that direction. As a result, when you let go of the joystick, the ROV shouldn't "pop back" into the flat orientation.

Take in data points from the OBS and create a smooth graph.

Write up the joystick page in the wiki.

The sketch has to independently control the 6 thrusters.

It should me a Robomodules module, that sends a message, with the following values:

• x
• y
• z
• roll
• pitch
• yaw

The GUIModule should subscribe to the frame messagetype and display frames whenever it receives a message.

Write a Robomodules module, that with some frequency gets the newest frame and sends a message with the frame

The module should:

• Communicate with the IMU using raspberry pi's GPIO pins.
• Initialize the IMU.
• Get roll, pitch, yaw readings from the IMU
• send roll, pitch, yaw readings to GUI via a new message type.

The module should take an x, y, z, yaw, pitch, roll message and pass it onto an Arduino through a serial connection.

The module should:

• Initialize the sensor
• Periodically get readings
• Send a humidity sensor message

• Joystick controller should be running in the GUIModule
• Before sending out the command message, visualize the current values on the navball

I can't get it to connect to Harvard WiFi or even get its MAC address (wlan0 doesn't even show up from $ ifconfig -a, so I'm going to try to just reconfigure it all and re-document how to get it to work.

WiFi would make it easy to $ git pull from the Pi.