2-8-14 Meeting Notes

[raygunn13]

Today Robosub conducted its third pool test, the first of the second semester. In this pool test we hoped to accomplish the following tasks:

-test hydrophones with pinger (& gather data)

-log sensor data for future sanitation modules

-log video data for further vision testing

-test pneumatics

-test stabilization module

-test motor control

What we were successfully able to test:

-hydrophone working, data logged

-video data was taken for both forward facing and downward facing cameras at various distances, and logged

-motor control tested

What went wrong and why:

-Sensor data was being taken and logged, but the log file was being deleted inexplicably, and so no usable data was extracted from this test.

-The pneumatic valves worked in lab, but didn't translate into expected levels of mechanical actuation

-Different versions of the microcontroller_interface.py were being used, causing inconsistent performance for different modules

-Motor control was successful (different speeds were tested), but hope to expand its functionality in the future (more speeds)

-The I2C bus went through hang up periods later on in the test due to odd behavior regarding the magnetometer.

-Early on in the test, it was discovered the magnetometer was exposed, and proper water proofing materials had to be retrieved from the lab before testing could begin.****

****This took up a lot of our pool testing time as a result

What we learned, and what was the overall impression:

     Overall, looking past the initial waiting period, the test went well. Keep in mind that every time something went wrong, we learned from it. Physically speaking, the sub didn't perform dramatic maneuvers during this test, and much time was spent debugging software. It is important to remind everyone of how software intensive this project is, and the main reason we do these tests is to specifically test newly developed modules. In this way, the test was a success as it pointed out flaws in the implementation of such modules. These are all bugs that we won't need to relearn at the competition this upcoming July. Keep it up Robosub! We have made impressive levels of progress, especially when compared to the state of our project in years past.

What we are working on now:

-PCB design (EE)

-microcontroller debugging (EE)

-ordering parts (EE, CS, ME)

-future module development (CS)

-vision test benching (CS)

-building new submarine(ME)

Our next big deadline is to have the new submarine built by March.

Sincerely,

Nathaniel Ray

Robosub Club of the Palouse