AME 3623: Project 8: Lateral Velocity Control
For the last two projects, 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 Friday, April 17th
at 11:59 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:
Component 3: Looking Forward
For project 9, we will be using the distance sensors. We recommend
that you mount one pointed forward and the other pointed to either the
left or right. They should be mounted to the top ring (not to the
bottom ring).
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 Friday, April 17th at
11:59 pm.
- Demonstration/Code Review: All group
members must be present.
The demonstration must be completed by Tuesday, April 21st.
- Check in the following to your project 8 area of your
subversion tree:
- Personal report: There is no personal report due for this project.
Grading
Personal programming credit:
- Each person must accumulate at least three personal programming
credits over the course of the semester. This project offers
one.
- To receive credit, you must be the primary designer,
implementer and debugger of the component. This does
not mean that your other group members should not be looking
over your shoulder. But: you must do the "driving."
Group grade distribution:
- 35%: Project implementation
- 30%: Demonstration of working project (to either
of the TA or the instructor)
- 35%: Documentation
Group Grading Rubric
Grades for individuals will be based on the group grade, but weighted
by the assessed contributions of the group members to the non-personal programming items.
andrewhfagg -- gmail.com
Last modified: Thu Apr 9 17:09:56 2020