Jobin's Profile

January 8th:

Meet with other group members to come up with a schedule and a task list. Take on tasks based on individual preference and knowledge. 

January 11th:

Shopping for parts at Lee's electronics:

1. two motors (100 rpm)

2. one low range infrared transmitter/receiver

3. one medium range infrared transmitter/receiver

4. three photoelectric sensors

5. two wheels

6. one  battery dock

7. two XBee series 2 modules

Created the blog:

1. Enter our meetings into the blog.

2. Update the blog about the group progress

January 14th:

1. Write functions to read the analog inputs of the micro-controller.

2. Write functions to update the outputs to the motors. 

3. Write functions to test each set of sensors and their corresponding readings.

4. Meet with the group for progress update and the division of future tasks. 

January 16th:

Research for methods of implementing the beacon and robot communication:

objectives:

1. Simple implementation.

2. Cheap

3.  Accurate.

January 17th:

1. Revise the code into segments: one for each set of sensors. 

2. Figure out how to flash and use the Arduino micro controller. 

3. Research and devise a method for implementing the beacon sensors: Pololu IR Beacon Trans receiver

January 20th:

1. Implement the grid sensors on a breadboard. (Figure out how to do so for desired sensitivity.
2. Fix the grid sensor code to read and display in the monitor the grid sensor analog input.

3. Test grid sensing functionality with the use of the grid sensor circuit and the Arduino micro controller.

4. Design sensor locations on robot.

5. Update grid sensing function accordingly.  

January 21st:

1. Update personal blog.
2. Group meeting for planning report's task allocation and practice presentation.
3. Prepared power point presentation.
4. Prepared personal gantt chart.  
5. Prepared group gantt chart.

January 22nd:

1. Submitted planning report.

2. Presented our planning proposal.

January 23rd:

1. Tested the obstacle IR sensor on the grid.
2. Wrote a simple grid detection code with a straight function.
3. Researched other methods of beacon IR implementation. (transceiver, IR sensor/detector, Lego based angular IR detector)

January 30th:

1. Implementing straight function with grid sensors in place.
2. Testing grid sensor values keeping in mind the accuracy and correctness.
3. Evaluating the different states of the robot throughout the maze.

February 1st:

1. Finding an alternative method for beacon implementation.
2. Testing the sensitivity of the IR sensor with respect to its circuitry.
3. Testing robot on the maze.

February 3rd:

1. Writing the Arduino mega code for beacon sensors.
2. testing sensitivity of obstacle sensor and possible circuitry to improve sensitivity.

February 4th:

1. Group meeting for design demo preperation.
2. The group decided on individual tasks and an overall goal to be met.
3. Worked on IR beacon sensor/receiver circuit. (amplifier, filter)
4. Tested IR beacon transmitter/receiver circuit for accuracy, correctness, and cutoff angle and distance.

February 5th:

1. Took a video of the robot for the blog.
2. Made a physical design for the beacon transmitter and the corresponding robot receivers.

February 6th:

1. Fill out IPeer evaluations.

February 7th:

1. Update video of robot.
2. Update personal profile.

February 10th:

1. Design a rescue algorithm concept.

February 27th:

1. Fill out IPeer evaluations.

February 28th:

1. Design the low/high gain amplification circuit for the beacon IR sensors.

March 2nd:

1. Make the bracket with IR receivers built in for beacon detection.
2. Test the bracket/receivers and find out that they do not work that well because of the glue that seeps in and the fact that the receivers do not extend out of the bracket by much because they are very small.
3. Test the larger receiver bought from Lee's: testing was successful and the receiver seems suitable.

March 6th:

1. Go to Lee's and buy the parts required for the IR rover/beacon communication: ribbon cable, receivers,  and transmitters.
2. Built the bracket for the beacon detection with the IR receivers glued in.
3. Connect the receivers to the previously made amplification circuit and test the output that will later be fed to the arduino mega.
4. the two levels of amplification currently have a gain of 331 and 601.

March 7th:

1. Change the gains of the amplifiers based on testing: connect emitters to a signal generator and record, with an oscilloscope, the signal received by the receiver.
3. Connect the receivers to the amplifiers.
4. Connect both the amplified and unamplified signals to the arduino mega.
5. Test to make sure the arduino mega is picking up a useful signal at all distances and angles.

March 8th:

1. Rewire the IR receivers (beacon detection) and connect to a PCB that will output to the arduino mega.
2. Built one of the beacon circuits to generate a 4kHz, 5V, square waves using an LM555 timer and a voltage regulator.
3. Test the transmitters with the IR receivers.
4. Play with the beacon design and positioning of the IR receivers to achieve best detection and easiest method of ball retrieval.

March 10th:

1. Finalize the beacon receivers and clean up the connections to the board.
2. Test the code to make sure the correct values are being read by the mega from the beacon receivers.
3. Write code to send commands from the mega to the mini.
4. Test to make sure the correct commands are being sent.
5. Modify code to make sure the correct commands are being sent to the mini.

March 11th - 12th:

1. Assemble the beacon and beacon emitters.
2. Reassemble the robot to clean up the circuitry.
3. Write interrupt code for the mini to receive commands from the mega every time one movement has been carried out.
4. Test the robot and beacon toegether on the big grid.
5. Modify the movement algorithm to prevent the robot from going to unknown states.
6. Modify the movement algorithm to pick up the ball.

March 13th-28th:

1. Test, modify, and pref-board the final design of the beacon circuits: amplifier gain, square-wave frequency, and header disconnections to be caused by the ball removal.
2. Test and modify the beacon detection aspect of the robot: improved shroud, replaced few receivers.
3. Overall testing and integration: debugging for false receiver values and algorithm bugs.
4. Integration demonstration review and improvements.  
5. Update report.
6. Complete IPeer evaluation and survey.
7. Exit demonstration and presentation.