IMU, Batteries and Jetson

This week on the electrical side, a large mix of things were done. First a driver was found for the IMU and tested out. This was done by reading the IMU measurements, converting it to roll, pitch and yaw angles and then drawing out the orientation of the IMU on the computer. A video of this demo can be seen below. It was found that the roll and pitch values very stable and accurate but there was some drift for the yaw measurements. From what we've seen, this isn't needed to be able to balance the robot but it might be useful when we need the robot is following a pre determined path. There's a chance that the GPS module might be able to provide this information but that needs to be verified.

In addition, the battery charger was tested out this week and it worked pretty well. The only issue would be that it's really loud. At the same time the battery cables to connect our 3 LiPo batteries in parallel were made (see below).

Custom battery cables.

Lastly, the Jetson Nano was set up. This actually took a quite longer than expected since we had some trouble getting the OS to detect the Wifi Module. With the Jetson set up, we can start testing our coffee rust detecter and look into how to use the Champ controller to handle the controls.

Jetson Nano.