berickson / car_ws Goto Github PK

Contest says this needs to be dead-man's style switch. Easiest way will probably be requiring full throttle input through the entire contest. Releasing throttle or losing connection should pause / stop the robot. It should unpause when throttle resumes.

Write code that coordinates high level functions and follows steps, etc.

This could use a behavior tree, python program, or similar.

This will coordinate things like loading path segments, switching between following a path, finding a cone and verifying that the kill switch allows running, timing out, etc.

Use a combination of location and size of the cone in the image to come up with a rough location. Get accurate distance from lidar, and add resulting location to the map as a detected cone location published over another topic.

GPS location is in LAT/LON. If we assign a datum location (lat,lon) to a location on the map (x,y), we can then use distance from datum in lat,lon to set a map x,y. Verify by displaying the current gps location on the map, along with lidar, etc.

Train a mobilenet model for cones, and create a Luxonis blob for it. If it detects as well as the Yolo model, we can use it for the contest since it can go 30fps sustained and is well supported by the Oak-D

Instead of tying teensy power to the ESC power, decouple with optical isolators or similar.

Signals that might be affected / need isolation:
ESC / STR input from receiver
ESC / STR output to car
Motor encoder input from motor