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Steven Blass | Electronic Notebook for Project NASTIElectronic Notebook for Project NASTI
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Electronic Notebook for Project NASTI
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Electronic Notebook for Project NASTI
January | 2013 | Steven Blass
https://stevenblass.wordpress.com/2013/01
Electronic Notebook for Project NASTI. Archive for January, 2013. GPS and the image processor. On January 31, 2013 by sbla92. For the first time, the camera is going to need to detect something besides buoys. So I’m changing the image processor class to allow different algorithms to be selected, similar to the motors. On January 24, 2013 by sbla92. The FSM structure is in place. I’ve been taking the old code and separating and molding their functions into the motors and image path planning. New prelimina...
Steven Blass | Electronic Notebook for Project NASTI | Page 2
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Electronic Notebook for Project NASTI. On March 28, 2013 by sbla92. The data from the compass is successfully being moved from the compass to the atmega 644 and then to the primary processor test program where its converted into degrees. On March 26, 2013 by sbla92. Scoped the oscillator at 11Mhz, and the sysclk at 1.382Mhz as before. Note: to test the baud, I’m spamming a letter in the while loop of the atmega and reading via Tera Term. I pick out the duration of 1 bit on the scope, calculate ...All the...
Outdoors Testing | Steven Blass
https://stevenblass.wordpress.com/2013/04/18/outdoors-testing
Electronic Notebook for Project NASTI. Laquo; Debugging the rebuild. Software re-integration and cleaning. Substantial GPS deviation outside near the buildings (as high as 80ft when stationary). Moving to the middle of the quad reduced drift to within 10 ft as expected. This was measured with the u-center software. With our software, we successfully set waypoints and moved in between them. Now it increases [0-359], but based on a few measurements, the increase is non-linear. Specifically, rotating th...
February | 2013 | Steven Blass
https://stevenblass.wordpress.com/2013/02
Electronic Notebook for Project NASTI. Archive for February, 2013. On February 21, 2013 by sbla92. The ATMega 644PA that we’re using has a default clock speed of 1MHz. With a Baud of 9600 coming in from the GPS and going out to a computer, it was dropping bytes somewhere along the way. Missed line feeds, carriage returns, and 6 character packet headers ($GP* *, where * * is a certain message type) on the computer side are obvious errors. The navigation processor and the GPS. On February 12, 2013 by sbla92.
I2C Debugging | Steven Blass
https://stevenblass.wordpress.com/2013/04/09/i2c-debugging
Electronic Notebook for Project NASTI. Laquo; Compass/GPS Update. The SCL line between the 644 and compass is hanging in a middle voltage somewhere in communication. Specifically, SCL on the Atmega is dropping to 2.0V instead of 0 or 3.3V. 644 datasheet states 0.7*Vcc is the minimum input high vtg. I tested the level shifter manually and confirmed it is functioning. The PWM output on the compass is changing with rotation. Checking into the code, it is this line: while(! April 11 – debugging cont. Ok, so ...
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Steven Blass | Electronic Notebook for Project NASTI
Electronic Notebook for Project NASTI. Navigation Hardware, Finding Red Things. On April 30, 2013 by sbla92. I spent the past few days working on making the navigation hardware more permanent. Its in its own box now. Software re-integration and cleaning. On April 18, 2013 by sbla92. We need to test the compass angles outside one more time before wire-wrapping it in a box. We need a box to put all the processing in first. We have a tentative candidate, but we could also build our own. This is the first ti...
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