Elevator

Goal: Contribute to the goal of building navigation by using IMU sensors to approximate elevation.

People to Yell at

• Oliver Croomes
• Ji Won Min

Plan

General Overview

With the use of an accelerometer, the robot will be able to receive raw acceleration data which we will be able to use to find the distance traveled. With this, we will be able to calculate what floor the robot is currently on by giving it a default start floor and adding/subtracting from it. Testing will need to be done to determine the acceleration patterns between one floor, two floors, etc., and whether the distance between each floor is the same. With this testing, we will also be able to adjust for errors/noise when calculating what floor the robot is on.

Hardware

- IMU - 6 Degrees of Freedom ITG3200/ADXL345 - Arduino Mega 2560 R3

(Click link for details) 1

Timeline

- Jun 24 - 28: Get familiar with IMU. Read through data sheets. - July 1 - 5: Set up IMU with Arduino. Try and publish raw data.

-Update: Set up IMU on Arduino but only 0.00's publish as data.

• July 8 - 12: Get IMU publishing raw data and make a message node to publish all sensor data.

-Update: IMU wiring was wrong because Arduino MEGA is different from Arduino UNO. We did get the sensor publishing data on the Arduino IDE but could not get messages published on a ROS msg. Tried publishing again on Arduino after msg did not work, and now fails due to dependencies that were not a problem before.

• July 15 - 19:Use source code 2 to have ROS node publish velocities. Test the code.

-Update: Got ROS node arduinoNode2 to publish data from source code, but IMU shuts down when in motion during testing in elevator at GDC. (We suspect it has something to do with the high baud rate, which is set as the highest at the moment.)

• July 22 - 26: Make a subscriber node to have all data from sensors connected to Arduino on one node.

-Update: The source code from Bildr was actually for orientation so minor changes were made to publish the raw acceleration instead. We will be using the acceleration to find distance traveled which will eventually be the way the robot (Roberto, to be specific) know how many floors it has traveled.

• July 29 - Aug 2nd:
• Aug 5 - 9:
• Aug 12 - 16:
• Aug 19 - 23:
• Aug 26 - 30: