Week 7: #GetLearnt

Build the frame, front axle and everything

• Got the Arduino logic to work

• The camera is able to detect colors well

• Camera is able to detect poop objects

Our major setback right now is our wheels leaking air. After we pump the wheels to be of equal size, they deflate at different rates, some completely, others partially. As such, we have been trying various methods to be able to test the wheels. With better wheels, we can do all the driving tests which have seemed promising so far.

Midterm Update Presentation: https://docs.google.com/a/uw.edu/presentation/d/1Hm04eiGFbvB_3jxzIWce0tHKDzbsLVcKS_uCbCPAVe0/edit?usp=sharing

Sailesh, Daniel, Jeremias - Front axle

Assembled front axle

Drove it in a straight line successfully!

• Ran off battery pack

• Un-pumped wheels

• Payload weight will not be an issue

Sailesh, Daniel, Jeremias - Color Detection Concept

HSV app that lets us analyze photo HSV values

• We can easily change the variables as necessary

Brown items have purple pixels apparently

Got images of the green grass

Need to increase contrast on camera

• S = (Cmax - Cmin)/Cmax

Sailesh - Camera Coloring

Got HSV values to work for color detection (we had RGB last week)

• for S and V, they were 0-100% out of 255

​It can detect green and knows when its detected

Increased color saturation settings through registers

Grass Before:

Grass After:

Bear Before:

Bear After:

Daniel - Frame and Motor Logic

Turn wheels independently

Turn forwards and backwards

Turn frame 90 degrees

Built commands to move the frame forward, backward, turn left, and right

Daniel - Scooper Model + Camera Model + Wheel

160 cm wide, 140 cm deep

2 walls 5 mm thick

Motor D-joint with hole of 6 mm

Han - 3-D Print

Printed 3-D model for camera tower and scooper

We need to revisit the sooper

Daniel, Jeremias - Pump Wheels and Test Movement

Went to the bike place in the HUB to pump up the wheels

Tested movements:

• Was able to move properly but with a slight angle

• Wheel also came off when we were turning

• The thing went about 2m in 10 seconds

• They were able to turn around 135 degrees in 10 seconds

Daniel, Sailesh - Poop Model

Got hella deals on the poop model

• Brown clay from the Arts & Crafts store on 8th

Sailesh - Poop Detection!!!!

Able to identify our poop model in day and night Able to identify where clusters are by measuring the lack of '0s' (black pixels)

Daniel - Midterm Presentation

https://docs.google.com/a/uw.edu/presentation/d/1Hm04eiGFbvB_3jxzIWce0tHKDzbsLVcKS_uCbCPAVe0/edit?usp=sharing

Sailesh - Boundary Detection

Jeremias, Sailesh, Daniel - Janky Wheel Recovery

Hot glue wheels to prevent air leak

We also used a stopper for this guy

Daniel Zhu - PCB

Daniel Zhu - Sirens + Lit

Worked on PCB for speakers and Arduino code for Lit

To Doo:

• Demo

• what to do if raining

• umbrella or tent

• carpet option

• day before

• find spot, set up boundaries

• Kickstarter

• that background page

• explain what the user needs to use the pooper scooper

• comparisons

• system specs needed

• add visuals of the pooper scooper

• due 6/5

• describe purpose

• Color object tracking (OpenCV) - prob not necessary

• Wi-fi module work

• Camera and OpenCV

• update parts list

• Decals

• LED

• Sirens

• Chrome Spray paint

• Scoop

• pick up shit

• move with motor