For Mars mission we basically have three modules. They are lake finding using camera, cliff avoiding using light sensors, temperature measurement using probe. All these three modules were developed and need to be integrated.
Here we faced several problems such as:
-Using of brick's sensor slots. Now we splitted sensors based on light/encoder principle. It means that all three light sensors are now connected to the first brick whereas all encoders and temperature sensor was connected to the second one. It forced us to change our separate programme modules during integration.
-Temperature sensor sometimes is put by mistake onto cliff. Once rover goes back this sensor stucks and causes problem to movement. We needed to change probe putting mechanism and make measurement software to avoid measuring temperature at wrong places.
-Edge detection sometimes conflicts with lake finding modules. It causes problems with performance and rover stucks on one place or tries to reach the lake ignoring obstacle on this way. We solved this problem by changing priorities of threads.
Next, we need to test integration part in the lab using real environment instead of simulation lakes, edges and using fictitious coordinates from camera.
No comments:
Post a Comment