Archived Posts

Happy new year! The last week of 2021 was supposed to be a week off in Italy, but it ended up being cancelled, so I decided to spend some time working on the robot. Before I began, I found out the root cause behind the odometry publisher issue. For context,... [Read More]

A few weeks ago, I designed a new enclosure for the bottom half of the robot. I designed it for a CNC machine, since I was supposed to attend a CNC workshop in December. Of course, this was cancelled because of the pandemic, so I decided to 3D print it... [Read More]

After setting up the encoders last week, I finally implemented closed loop control using classic PID controllers. I used four PID controllers, one for each motor to reduce the error between the reference RPM and the measured RPM from the encoders. The reference RPM is calculated for each motor from... [Read More]

Its been a long time since I last posted on this blog. Mainly because things got busy at work, and I was also re-doing a lot of the OAK-D implementation that I have already spoken about. But since the last week, I have been working towards implenting wheel odometry using... [Read More]

So, turns out that the Charuco (chessboard + aruco) board I printed out to calibrate the OAK-D was too small. Maybe I should print it on an A3 sized sheet instead. But because of this drawback, I wasn’t able to proceed with my OAK-D tasks. I will go to the... [Read More]