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Welcome to the submarine-prototype wiki!
This is the home of the SpaceRoomba, the first prototype in the road towards the eventual submarine
The SpaceRoomba is our testbed for testing control systems and visual processing algorithms as well as wireless communications on a low cost and accesible platform before moving on to the submarine, which will be more expensive and be less accesible for quick prototyping
The SpaceRoomba simulates a frictionless environment on a flat surface. It is a test with three degrees of freedom,x and y coordinates and an angle at which the vehicle is pointing at. It is also a platform for testing the visual processing algorithms, which are done by a raspberry pi located above the SpaceRoomba.
The SpaceRoomba has a main fan which creates a cushion of air. Using this frictionless environment, small quadcopter motors can adjust the attitude of the vehicle using a PID control algorithm.
Right now we are working on having the raspberry pi send a desired angle to the arduino. The arduino will adjust to point at this desired direction. Afterwards, a PID for linear motion will be tuned, which will allow the vehicle to translate to the desired point. This will allow the vehicle to always move towards the center. Eventually, we want to be able to send a trajectory through the raspberry pi and have the vehicle follow it.