Lab 12

Report

Videos

Complete Run (no robot touch)

Video

Localization Results

See the end of the video for the localization results.

Run with one touch

Video

Localization Results

See the end of the video for the localization results.

Almost perfect run

It is noticable that the last few angular PIDs are not accurate in this video. This was a change I had made due to a previous trial in which the BLE suddenly disconnected at (1.524, -0.9144) m. In the next run then, I added a command to re-initialize BLE, but I forgot to update the angles accordingly since the DMP would set 0 degrees in the positive x-direction during the reset, which is not the direction I initialized the DMP in at the start of the run. Apart from this error on my end, I thought that this run deserved to be published to my report.

Video

Localization Results

See the video for the localization results.