connecting the motor to the motor driver and driver to the breadboard
0 to 12v & 0 to (-12v) input power,motor shaft rotation clockwise and anti clock wise respectively
on application of 0 to 12v & 0 to (-12v) input power,motor shaft rotates clockwise and anti clock wise respectively DONE
No issues found in the motor for rotation.
Brakes
and making logic to verify the direction and brakes
motor shaft Stops rotating on application of break.
motor shaft Stops rotating on application of break with a delay of some milliseconds.
motor shaft stops rotating after some millisec due to intertia
Encoders
Speed
Using the encoders, compare the measured values with the actual values
max speed of the motor is 1000rpm, we contolled the speed through program by reducing the rpm
we are able to control the speed of the motor DONE
we can control the speed f the motor via pragramming
Fastners
Bending
verifying by solidworks simulation
-
-
Done
No issues seen
Alignment
verifying by solidworks simulation
-
-
Done
No issues seen
Stability
verifying by solidworks simulation
-
-
Done
No issues seen
Solidwork Simulation Stiffness
verifying by solidworks simulation
-
-
Done
No issues seen
Programming
Arduino
Angle
Giving inuput for known value of check for output comparing with optained 120degree,90degree,360degree output respectively 121degree,89degree,357degree
Done
minimun deflection of 2 to 3 degrees was seen
Measuring actual & real values
Arduino IDE
Length of traverse
check for 1meter,2meter,3meter respectively 0.98meter,1.94meter,2.94meter
Done
mnimun deflection of 3-6mm was seen
Energizing
Equipments needed Attributes
Multimeter
Test rotations Battery
Base assembly(Lclamp,wheels and base material)
Powering it Moving the base
Dead weight
Adding weight Battery
Encoders
Encoder assembly
Measurement Multimeter
Continuity
Powering(UBEC)
Ground clearance
Scale
Electrical output
Arduino and Arduino IDE
Rotation & output
Encoder Wheel must touch Checking by solidwoks assmbly ground Encoder circuit must work with interfaceing arduino
Voltage measurement Multimeter
Powering of all components Probe test
Charging & discharge timing
Power consumption
Dual power ac adapter
DONE
Enoder assebly is touching the ground for feedback as expected according to solidworks model Done
We are getting the values from the encoder must send feed back to encoder wheel as it rotates or moves arduino linearly
UBEC should convert 24V to 12V.
verified/pass remarks
Done
working as expected our encoder is working as expected but it is an relative encoder
UBEC has converted 24V to 12V ,verified using multimeter at the output Done
working as expected
We could get the range acuracy of 5.99 meters,verified using BOSCH pro GLM100c Done
Negligible error of 0.01m
on board 13th pin led blinks
working perfectly
Battery alaram
RP lidar
Length measurement Software-rplidar sdk
Giving inuput for known value of Distance from output comparing with optained an object output Range is 6 meters
IMU
Measurement Arduino
Outputs from the sensor
Giving inuput for known value of output comparing with optained output
LED
Input/output
Uploading blink led example program
conneccting wies
Power consumption
Probe test using DMM
Arduino IDE
Arduino
Powering Programming
on board 13th pin led blinks
Done
Power adapter
NUC
Powering Programming
PC
ROS comaptibility
ROS software
Communicatio n
Installing ros and runing test program
-
Compatible with ROS, able to communicate with master computer .
Movement of bot according to joystick
bot should move according to the movement of the joystick
our bot is moving asper the movement of the joystick
Done
working as expected
Done
Working perfectly
Giving inuput for known value of The map was created according to the output comparing with optained Given an indoor environment for indoor environment according to the output mapping scale and geometry Done
Working perfectly
Power adapter
Remote
Programming
ROS, RVIZ
Verifying the output as per input
Nodes Master (ROS)
Programming
Movement of bot according to the movement of the joystick
ROS
Working
Verifying it with the ROS &RVIZ communication between the software master and slave nodes
The bot is responding to the commands sent by mmaster node to slave nodes
Connectivity
Mapping
Length verification
ROS , RVIZ
Map
BOSCH pro GLM100c Scale
Verifying it with the ROS &RVIZ software
Geometry
Automation
Verification of length IMU
Direction
Verification of orientation RVIZ
Obstacle detection Path planning
Giving inuput for known value of output comparing with optained output Yet to be tested
speed through program by reducing the rpm we are able to ... Programming Arduino. Angle. Giving inuput for known ... Automation. Verification of length. IMU.
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