Tasks

SOFTWARE

Near term

• Debug log file (logger.cpp, etc.) Why are RC channels out of order? Why are mapped values messed up? Can we get the RC to set good desired values? Test that we can log to serial and CAN as well as SD.
• Construct non-graphic simulator on Router Arduino Due that feeds back speed and steer angle based on commanded throttle, brake and steering.

Medium term

• Use log file to improve trike performance. Tune PID control and verify that it works.
• Construct database from log files
• Write code for Jetson Nano to drive to next waypoint using CAN messages.
• Improve simulator

Long term

• Set up simulator-based regression test to check new code.
• Use data from logger to produce precise control system.
• Develop CAN system allowing two docked trikes to move as one.
• Write wireless messaging sequence to dock while moving.
• Object avoidance software.
• Software to use video to follow road.

ELECTRONICS

Near term

• Build DBW V5 circuit board.
• Build voltage distribution board for 36V.

Medium term

• PCB to simplify wiring to Jetson Nano.

ELECTRO-MECHANICAL

Near term

• Wire box for DBW
• Wire box for 36V
• Wire operator joystick and status box
• Build and wire E-stop
• Connect steering to motor controller
• Wire box for Jetson Nano

Medium term

• Duplicate improved systems on orange trike on yellow trike.
• Trike moves under RC control
• Trike moves under operator control
• Trike moves under Jetson Nano

Long term

• Incorporate sensors to measure distances between trikes
• Demonstrate that trikes can dock in motion
• Object avoidance sensors