AME 3623: Project 10: Lateral Velocity Control
For projects 7 and 8, you have focused on PD control of
orientation. For this project, we focus on lateral control.
Specifically, your FSM will specify desired
velocities along the X and Y directions and your pd_step() will
work to achieve these velocities.
- All components of the project are due by Tuesday, May 4th
at 5:00 pm
- Groups are the same as for project 1.
- Discussion within groups is fine.
- Discussion across groups may not be about the specifics of the
solution (general programming/circuit issues are fine to
discuss).
At the end of this project, you should be able to:
- produced a positional trajectory based on a desired velocity, and
- integrate lateral positions and velocities (as sensed by the
cameras) into the control loop.
Component 1: Hardware
There are no new hardware components for this project. However, we
are assuming that orientation control is working well and that you
have your cameras working properly.
Component 2: Software
Implement the following functionality:
Notes
- Try to find a large surface to fly your craft on. The
surface should be flat, with little physical texture, but must
have an interesting visual texture (so the cameras will work).
- We recognize that you will be working in many different
environments. Do your best.
What to Hand In
All components of the project are due by Tuesday, May 4th at
5:00 pm.
- Demonstration/Code Review: All group
members must be present. The demonstration must be completed
by Friday, May 7th.
- Check in the following to your project 10 area of Gradescope:
- Personal report: there is no personal report for this project.
Grading
Project lead credit:
- Each person must be the primary integrator of circuits and code
for two projects over the course of the semester.
For a successful project, we expect:
- A properly configured circuit
- Cameras connected properly
- Properly written software:
- Control performance:
- Well-Damped oscillations around the goal location.
- Properly documented code
- Project-level documentation at the top of the ino file:
name and group number, date and project number
- Function-level documentation above the function
definition. Include an abstract description of what the
function does; a list of the names, types and units
associated with each parameter and return value; and the
effects that the function has on the processor or
connected components.
- In-line documentation inside of functions: individual
lines or small groups of lines have an English
description that describes logically what the code is doing
andrewhfagg -- gmail.com
Last modified: Thu Apr 22 09:51:31 2021