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Vishakh KumarVishakh Kumar
Vishakh Kumar
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‎.dir-locals.el‎

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(org . (
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;; Set custom org-mode headline tags
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(setq org-todo-keywords '(
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(type "Vi-TODO"
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"Dharsh-TODO"
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"ASK-Trey"
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"Vi-CURRENT(!)"
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"Dharsh-CURRENT(!)"
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(type "Vi-TODO"
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"Dharsh-TODO"
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"ASK-Trey"
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"|"
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"Vi-CURRENT(!)"
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"Dharsh-CURRENT(!)"
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"|"
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"Vi-Owner(!)"
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"Dharsh-Owner(!)")
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)
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)
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;; Set colors for headline tags
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(setq org-todo-keyword-faces
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'(
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;; Todo Items
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("Vi-TODO" . (:foreground "white" :background "blue" ) )
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("Dharsh-TODO" . (:foreground "black" :background "yellow" ) )
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("ASK-Trey" . (:foreground "red" :weight bold ) )
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;; In-progress Items
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("Vi-CURRENT" . (:foreground "blue" :background "black" :weight bold ) )
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("Dharsh-CURRENT" . (:foreground "blue" :background "black" :weight bold ) )
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;; Finished items that are owned by
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("Vi-Owner" . (:foreground "Green" :weight bold ) )
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("Dharsh-Owner" . (:foreground "Green" :weight bold ) )
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)
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)
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)
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‎index.org‎

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#+TITLE: Pyrant Documentation
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#+AUTHOR: Dharshan Rammohan & Vishakh Kumar
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#+TODO: Vi-TODO Dharsh-TODO ASK-Trey | Vi-Owner Dharsh-Owner
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* Custom org-mode features for this file
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Mainly to put custom TODO types so that everyone can use them.
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Vi uses spacemacs a lot and railroaded Dharsh into using it so that he could organize things in org-mode.
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Main feature added is to create custom TODO types to assign work to people.
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#+NAME: startup
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#+BEGIN_SRC emacs-lisp :tangle .dir-locals.el :noweb yes :results silent
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(
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(org . (
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<<set_org_todo_keywords>>
@@ -17,70 +19,102 @@ Mainly to put custom TODO types so that everyone can use them.
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)
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#+END_SRC
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** Set custom Org-mode headline tags
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#+NAME: set_org_todo_keywords
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#+BEGIN_SRC emacs-lisp
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;; Set custom org-mode headline tags
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(setq org-todo-keywords '(
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(type "Vi-TODO"
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"Dharsh-TODO"
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"ASK-Trey"
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"Vi-CURRENT(!)"
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"Dharsh-CURRENT(!)"
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"|"
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"Vi-Owner(!)"
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"Dharsh-Owner(!)")
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)
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)
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;; Set custom org-mode headline tags
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(setq org-todo-keywords '(
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(type "Vi-TODO"
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"Dharsh-TODO"
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"ASK-Trey"
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"Vi-CURRENT(!)"
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"Dharsh-CURRENT(!)"
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"|"
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"Vi-Owner(!)"
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"Dharsh-Owner(!)")
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)
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)
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#+END_SRC
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** Set colors for headline tags
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#+NAME: set_org_keyword_faces
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#+BEGIN_SRC emacs-lisp :results silent
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;; Set colors for headline tags
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(setq org-todo-keyword-faces
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'(
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;; Todo Items
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("Vi-TODO" . (:foreground "white" :background "blue" ) )
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("Dharsh-TODO" . (:foreground "black" :background "yellow" ) )
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("ASK-Trey" . (:foreground "red" :weight bold ) )
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;; In-progress Items
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("Vi-CURRENT" . (:foreground "blue" :background "black" :weight bold ) )
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("Dharsh-CURRENT" . (:foreground "blue" :background "black" :weight bold ) )
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;; Finished items that are owned by
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("Vi-Owner" . (:foreground "Green" :weight bold ) )
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("Dharsh-Owner" . (:foreground "Green" :weight bold ) )
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)
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)
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;; Set colors for headline tags
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(setq org-todo-keyword-faces
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'(
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;; Todo Items
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("Vi-TODO" . (:foreground "white" :background "blue" ) )
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("Dharsh-TODO" . (:foreground "black" :background "yellow" ) )
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("ASK-Trey" . (:foreground "red" :weight bold ) )
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;; In-progress Items
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("Vi-CURRENT" . (:foreground "blue" :background "black" :weight bold ) )
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("Dharsh-CURRENT" . (:foreground "blue" :background "black" :weight bold ) )
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;; Finished items that are owned by
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("Vi-Owner" . (:foreground "Green" :weight bold ) )
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("Dharsh-Owner" . (:foreground "Green" :weight bold ) )
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)
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)
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#+END_SRC
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* Tasks
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** Hardware
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*** Vi-TODO Flight Logic Controller
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**** Vi-TODO Connect the arduino pins to raspberry pi pins for SPI interface
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**** Vi-Owner Connect the arduino pins to raspberry pi pins for SPI interface
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**** Vi-TODO Arduino
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***** Vi-TODO Place two motor controller, one arduino mini & one IMU unit on a prototyping board
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***** Vi-TODO Solder into place and use cables for pin management
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***** Vi-TODO IMU unit
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***** Vi-Owner Solder into place and use cables for pin management
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***** Vi-Owner IMU unit
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****** Vi-Owner Connect header pins to IMU unit
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****** Vi-Owner Connect IMU pins to Arduino pins through I2C interface
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**** Vi-TODO Raspberry Pi
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***** Vi-TODO Connect cameras to board
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***** Vi-Owner Connect cameras to board
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*** Vi-TODO Batteries
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**** Vi-TODO Research Lipo-cell regulators for more than one battery
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***** Vi-TODO Take into account adding extra batteries and a regulator increase weights, cost, and time spent in development for a marginal increase in flight time.
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*** Dharsh-TODO Propellors
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**** Dharsh-TODO Pick up propellors from amazon
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**** Dharsh-TODO Check if propellors fit the shaft.
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Troubleshooting in advance.
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Measure motor shaft thickness and update inventory. When propellors arrive, check for cavity thickness
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When Vi goes to Microcenter next time, he will measure the motor shaft thickness and check for propellors that fit (along with a list of costs.) This will serve as the backup option should the propellors from Amazon be inadequete.
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1) Motor Shaft is bigger but just a bit too big.
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Use a drill bit that fits the width of the propellor cavity. Borrow one from the woodshop and use the drill press.
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2) Motor Shaft is smaller but just a bit too small.
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Use glue to make up for the difference and ensure that the propellors are aligned properly.
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Let the glue set when the motor is running.
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3) Propellors are absolutely screwed.
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1) Buy from MicroCenter over the weekend OR
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2) 3D print propellors using the SLS printer.
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**** Dharsh-TODO Connect propellors to motors and try dc powered test.
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***** Vi-TODO Check for number of motors required for drone configuration
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** Dharsh-TODO Simulink
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*** Vi-Owner Added RASPlib library
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*** Vi-Owner Implemented feedback-input comparator
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*** Vi-Owner mux-ed and demux-d input and made subsystem
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*** Dharsh-OWNER Integrate Motor controllers
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*** Dharsh-Owner Integrate Motor controllers
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n**** Dharsh-TODO Add .c files to Matlab
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**** Dharsh-TODO Add motor controller blocks to a subsystem and define input/output
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**** Dharsh-Owner Add motor controller blocks to a subsystem and define input/output
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Note: Making this a seperate subsystem will make it easier to switch to a hexacopter motor control.
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**** ASK-Trey Make a PID subsystem that accepts position based input.
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**** Dharsh-Owner Make a PID subsystem that accepts position based input.
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*** Vi-TODO Building process
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**** Vi-TODO Build c files and avr to arduino mini.
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**** Vi-TODO Document in a bash script for easy use.
@@ -92,18 +126,77 @@ n**** Dharsh-TODO Add .c files to Matlab
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*** Dharsh-Owner Implement gyrometer, accelerometer & magnetometer PID controller
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Note: Philip (IEEE) mentioned that it would take far too long for the drones to come to a stop and hover and would not be appropiate for a swarm of controller
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Recommends switching to a position based PID controller
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*** ASK -[DONE]-Trey Ask Trey about position based controller
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**** Dharsh-TODO Implement position based controller in Simulink
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**** Dharsh-Owner Implement position based controller in Simulink
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Note: Pretend that the Raspberry Pi is sending signals but actually use the keyboard for mocking.
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*** ASK-TreyTune the PID controllers for the drones
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Note: Begin with the innermost loop first and work your way out
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** Vi-TODO OpenCV Software
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*** Vi-TODO Implement the video combination thing and connect to Simulink
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*** Vi-TODO Make simulink block that outputs velocity
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*** Vi-TODO Create recognizable and easy to print rectangular squares for opencv to detect
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**** Vi-TODO Camera lens distortion is an issue, pls fix
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*** Vi-TODO Release OpenCV application as a statically linked package for MAtlab to use
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Note: Remember uploading pything functions earlier with numpy? Didn't go well.
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** Vi-TODO Drone Frame
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*** Vi-TODO Place components on plywood
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The place where everything comes together! Design requirements below to aid design process.
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Basic Requirements:
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- [ ] Plywood body for drone.
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- [ ] Fix components into drone body using screws
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- [ ] Follow secondary requirements as much as possible.
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Secondary Requirements:
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- Battery
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-[ ] Have space for drone cell or multiple cells if possible.
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- Have easy access to charging battery with a usb port (possibly the one used by Android phones pre-2017)
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- Camera
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- [ ] Forward facing
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- [ ] Rest in static vertical position using a small slot in frame.
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- Motor & Propellors
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- [ ] Ensure that there is adequete space for propellors and motors to prevent collision
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- [ ] Since plywood isn't appropiate for 3d structures, use ABS to make a small motor housing.
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- IMUs
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- [ ] Ensure that the IMU is fixed with reference to the drone body
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- [ ] Ensure that the code taken in by matlab doesn't have differnt orientations than real-life
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- General Electronics safety requirements
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- [ ] Ensure that electrical components are seperated from each other by air whenever possible.
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- [ ] Use glue on any extruding wires to minimize chance of electrical shortage
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Tertiary Requirements
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- Style
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- [ ] Add a brief description of the project with atleast the following: Name, Github Link, Authors.
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- [ ] Use printing tape for any engraved designed.
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- [ ] Stick to easy to engrave designs
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- Payload
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- IR Emitter
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- [ ] Place the IR emitter and stop moving drone if too close to the wall.
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- LEDs
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- [ ]Add LEDs to demonstrate extra power consumption
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*** Vi-Owner Place components on plywood/paper for rough mockup
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Effectively, ensure that you have a general shape for the drone before you CAD stuff up. Remember to adhere to the Design Requirements. If possible, consult with Dharsh & Trey to ensure that the design isn't blatenty stupid.
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**** Vi-Todo Scan drawings for future reference.
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Use that fancy paper and markers from ME 1770. Note from Vi: This is the third time I've use it outside that class. Expectations pleasently shattered.
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*** Vi-TODO Design drone shape
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**** Vi-TODO Try to make thin frames with multiple overlays
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Effectively, make it thin and increase strength on thin frames by two planks. Go Deformable Bodies!
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*** Vi-TODO Laser-cut at the invention studio
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**** Vi-TODO Design phase for drone frame
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***** Vi-Owner Try to make thin frames with multiple overlays
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Effectively, make it thin and increase strength on thin frames by two planks. Go Deformable Bodies!
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***** Vi-TODO Separate arduino & raspberry pi to prevent electrical shortages
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***** Vi-TODO Add super glue to any extruding electrical components to minimize electrial shortages
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**** Vi-TODO Solidworks phase
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***** Vi-TODO Create mutilayer drone shape in SLD
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***** Vi-TODO split using the split body function and check for excessive angles ruining final product.
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Note: Also make sure it looks great.
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**** Vi-TODO Invention studio
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***** 3D print house casing for motors instead of using plywood.
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* Inventory

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