Backlog

[jacobhuesman]

Backlog

A detailed list of all the tasks we have for next year.

When you start working on something, create an issue to document progress and then reference it next to the task:

• [ ] Backlog task #1

Miscellaneous Backlog

• [x] Setup Travis CI
  • [ ] Maybe add a code coverage service as well
• [ ] Update readme with ansible setup

Localization

• [x] Define requirements
  • 50Hz
  • < 1cm accuracy
• [x] Initial trade study
  • [x] UWB - Not accurate or fast enough
  • [ ] HTC VIve -
  • [ ] ZR300 Beacon System
  • [ ] Camera System
• [ ] Buy and test sample of the most promising system
  • [ ] Transform IMU from center

Dig Controller

• [ ] Mechanical would like a more intelligent dig controller
  • [ ] Keep track of how much we've dug
  • [ ] Constant pressure on the ground

Simulation

• [x] Potentially finish VREP simulator

Drive Controller

Matlab

• [x] Define Interface with Path planner
  • [x] chunks of 4 points defining cubic bezier curve segments
• [x] Get proof of control system following curve segment with no disturbances | Aug 8
• [x] Get proof of control system following curve segment with initial error | Aug 22
• [x] Get proof of control system following curve segment with disturbances | Sept 5
• [x] Get proof of control system following curve segment with disturbances and initial error | Sept 19
• [?] Get proof of control system following multiple curve segments with disturbances and initial error | Oct 3

  ROS/C++

• [x] Do the above in ROS/C++ | Nov 3
• [x] Integrate with new VREP simulator fully by spoofing position sensor/imu

  Mapping/Obstacle Detection

  • [x] Get a point cloud from the ZR300 | Sept 5
  • [ ] Get a surface mesh from this point cloud | Sept 19
  • [ ] Take sobel of mesh/surface (large dz/dx or dz/dy means rock/hole) | Oct 3
  • [ ] Write data to map | Oct 17
  • [ ] Send map to path planner (and define interface) | Oct 31

    Path Planning

Motors

• [ ] Review VESC Layer
• [ ] Re-enable VESC safety layer tests and fix
• [ ] Re-enable backhoe controller cafety tests and fix

Hardware

• [ ] Wiring
  • [ ] Remove redundant ground wires and attach to frame
  • [ ] Redo power box with new ground wire configuration
• [ ] Mounting
  • [ ] Better ZR300 mounting (ideally no servo)
  • [ ] Localization system mounting

General

General tasks

• [ ] Funding
• [ ] Recruiting
• [x] Remotely working on the project, found a telepresence room that we can use
• [ ] Goal speed for next year
  • [ ] Alabama's speed from last year

Mechanical

A collection of things to bug mechanical about

• [ ] Linear Actuator Length

[jacobhuesman]

0.5 m/s is the top speed, with the current motors and gear boxes

[jacobhuesman]

Mechanical is designing for 1.0 m/s this year