The Systems Team is tasked to manufacture and install all electrical circuitry and assemblies, as well as to handle most coding and communications work. This includes the base station, autonomous system, and all other electrical subsystems.
Our team members this semester are:
- Jensen Mayes (Team Lead)
- James Talbert
- Brady Anderson
- Shivam Vashi
- Christian Tanberg
- Brooke Bradshaw
Our Goals this Semester:
- Integrating the finished science system
- Adding computer vision capabilities to the rover for autonomous driving
- Fully integrating positional feedback from the arm
- Cleaning up the wiring to mitigate potential issues
- Significant amounts of drive testing
March 15 – Arm Feedback Integrated
April 26 – Functional Autonomous System
This is according to the following timeline:
In the past 3 semesters, we have been able to develop a new rover from the ground up. Over this time, we have been able to put into operation the major components of the rover including the drive system, arm controls, and bi-directional base station communication. This semester we will be working on integrating the finished science system, adding computer vision capabilities to the rover for autonomous driving, fully integrating positional feedback from the arm, and cleaning up the wiring to mitigate potential issues. Additionally, we are investing a significant amount of time into drive testing so that we are able to prepare for competition this summer. The following graphics show the basic electrical template of our rover and how it is controlled.
One of our main objectives with our current system is the ability to keep everything modular. In this way, the various subsystems are implemented on separate Raspberry Pi’s and communicate via a local IP network. This is further modulized through the Robot Operating System (ROS) software libraries that allow us to better separate the software and hardware aspects of development. We use ROS on the rover to abstract the details of the network communication and to clarify the structure of the system’s functions. If you look at the generated node graph below you can see the template for our rover through ROS and how it is able to bring many functions of the rover to a higher level for easier communication and programming.
This semester we will be implementing some new power distribution through PCBs for streamlining our wiring. This will enable us to slightly reduce weight as well as improve the rover by making it easier to dissassemble and troubleshoot. Shown below is a rendering of the PCB for distributing power in and out of the Ebox: