drexel_duct_navigator_odometry
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— | drexel_duct_navigator_odometry [2016/11/07 20:30] (current) – created dwallace | ||
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+ | ====== Measuring Odometry with an Optical Mouse ====== | ||
+ | The aim of this project was to accurately measure odometry using a standard optical mouse and an IMU. It is believed that using an optical mouse in this way is beneficial because even when the vehicle is slipping it will still be possible to measure odometry accurately. | ||
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+ | ===== Interfacing the mouse ===== | ||
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+ | The mouse was attached to an Arduino mega using a SainSmart USB host shield. | ||
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+ | {{dylanw: | ||
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+ | The mouse output was then calibrated to meters and summed to show absolute position. | ||
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+ | ===== Creating the mouse mount ===== | ||
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+ | When mounting the mouse it is important that is can rise up and down over uneven terrain. | ||
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+ | The bracket was made of an aluminum tube attached by a hinge to the vehicle and another hinge attaching it to the mouse. | ||
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+ | {{dylanw: | ||
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+ | ===== Installing the IMU ===== | ||
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+ | An MPU 6050 was ordered from amazon.com and wired on breadboard. | ||
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+ | ===== The code ===== | ||
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+ | A dedicated Arduino mega reads and processes the data from the mouse and the IMU. This was done because there can be no delays between mouse data reads. | ||
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+ | The Mouse measures change in position in the local reference frame. | ||
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+ | ===== Results ===== | ||
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+ | **Initial 2 dimensional test** | ||
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+ | {{youtube> | ||
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+ | **Another 2D test after code for 3 diminutional movement was added. ** | ||
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+ | {{youtube> | ||
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+ | In both 2d cases the vehicle' | ||
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+ | **A 3D motion test in the ductwork assembly** | ||
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+ | {{youtube> | ||
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+ | The elevation of the beginning and the end of the test track are at the same elevation. |
drexel_duct_navigator_odometry.txt · Last modified: 2016/11/07 20:30 by dwallace