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cavineers / RobotCode2021

Robot Code for the 2021 at home challenge.
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[GalacticSearch] Test GalacticSearch Systems #84

Closed Ryan4545 closed 3 years ago

Ryan4545 commented 3 years ago

Testing plan for 3/20/2021 vision code: Note: the nano must have the barrel connector taken off first after power testing takes place and then be mounted to the Ethernet tower before any of the testing can take place!

  1. Jetson Nano vision scripts on-boot (make sure vision starts automatically without issue)
  2. PowerCell detection with production setup, camera and nano
  3. Proper WebSocket communication to robot with detection information
  4. Math is correctly being calculated
  5. (If time allows) Galactic Search test with autonomous movement based on vision feedback

Potential breakpoints to be aware of:

  1. open.sh and on boot scripts
  2. WebSocket communication
  3. Math and distance calculation issues
  4. Swerve movement based on detection

Pushing updates:

  1. Push to GitHub
  2. Connect Jetson to internet
  3. Open development docker container and git pull
  4. Remove production image and commit new image called yolov5-cavs
Ryan4545 commented 3 years ago

Follow above for testing Vision!

Galactic Search Testing:

  1. Check vision math
  2. Run command and tune PID values
  3. Make sure the robot's movement is correct (check simulation maps for reference)

Potential Breakpoints:

  1. Transportation subsystem (untested) and sensor inputs
  2. Vision math / connectivity
  3. PID values
  4. Swerve values based on PIDs