May 15, 2024
Lab 12: Inverted Pendulum Control
In Lab 12, I embraced the open-endedness of our last assignment and worked on the challenge of turning the car into an inverted pendulum.
April 30, 2024
Lab 11: Real Localization
In Lab 11, I used the orientation mapping system from Lab 9 and the Bayes filter from Lab 10 to localize the real car in our lab arena.
April 23, 2024
Lab 10: Simulated Localization
In Lab 10, I used a Bayes filter to achieve grid localization of a virtual robot in a simulated 2D environment similar to the arena set up in our lab space.
April 16, 2024
Lab 9: Mapping
In Lab 9, I used orientation control to map the edges of a physical space by incrementally taking TOF distance readings from several positions.
April 9, 2024
Lab 8: Stunts
In Lab 8, I used distance measurements and orientation control to have my car perform a drift in the form of a 180 degree turn after running at a wall.
March 26, 2024
Lab 7: Kalman Filter
In Lab 7, I drove the car at a wall as fast as possible and used the ToF readings to find the steady state speed and implement a Kalman filter in simulation.
March 19, 2024
Lab 6: Orientation PID Control
In Lab 6, I used IMU yaw measurements to implement a PID controller that points the car toward a particular heading and maintains that orientation.
March 12, 2024
Lab 5: Linear PID Control
In Lab 5, I used ToF distance measurements to implement a PID controller that drives the car toward a wall and stops just short of crashing into it.
March 5, 2024
Lab 4: Motors and Open Loop Control
In Lab 4, I added two dual motor drivers to the Artemis, replaced the factory circuitry in the RC car with my own, and tested and tuned the car's motors.
February 20, 2024
Lab 3: Time of Flight
In Lab 3, I added a battery and two VL53L1X Time-of-Flight (ToF) sensors to the Artemis, then tested the sensors' capabilities, range, and accuracy.
February 13, 2024
Lab 2: Inertial Measurement Unit
In Lab 2, I configured an inertial measurement unit (IMU) and used its accelerometer and gyroscope to compute pitch, roll, and yaw.
February 6, 2024
Lab 1B: Bluetooth
In Part B of Lab 1, I configured the Artemis Nano Bluetooth connection and experimented with its capabilities and limitations.
February 6, 2024
Lab 1A: Artemis
In Part A of Lab 1, I configured my MacBook for development of the SparkFun RedBoard Artemis Nano and tested some of the board's features.