Pyrant Documentation

Custom org-mode features for this file

Mainly to put custom TODO types so that everyone can use them.

(
  (org . (
          <<set_org_todo_keywords>>
          <<set_org_keyword_faces>>
         )
  )
)

Set custom Org-mode headline tags

;; Set custom org-mode headline tags
(setq org-todo-keywords '(
                          (type  "Vi-TODO" 
                                 "Dharsh-TODO" 
                                 "ASK-Trey" 
                                 
                                 "Vi-CURRENT(!)" 
                                 "Dharsh-CURRENT(!)" 

                                 "|" 

                                 "Vi-Owner(!)"
                                 "Dharsh-Owner(!)")
                         )
)

Set colors for headline tags

;; Set colors for headline tags
(setq org-todo-keyword-faces
      '(
        ;; Todo Items
        ("Vi-TODO"         . (:foreground "white" :background "blue"                   )  ) 
        ("Dharsh-TODO"     . (:foreground "black" :background "yellow"                 )  )
        ("ASK-Trey"        . (:foreground "red"                           :weight bold )  )

        ;; In-progress Items
        ("Vi-CURRENT"      . (:foreground "blue"  :background "black"     :weight bold )  ) 
        ("Dharsh-CURRENT"  . (:foreground "blue"  :background "black"     :weight bold )  )

        ;; Finished items that are owned by
        ("Vi-Owner"        . (:foreground "Green"                         :weight bold )  )
        ("Dharsh-Owner"    . (:foreground "Green"                         :weight bold )  )
        )
)

Tasks

Hardware

Vi-TODO Flight Logic Controller

Vi-Owner Connect the arduino pins to raspberry pi pins for SPI interface

Vi-TODO Arduino

Vi-TODO Place two motor controller, one arduino mini & one IMU unit on a prototyping board

Vi-Owner Solder into place and use cables for pin management

Vi-Owner IMU unit

Vi-Owner Connect header pins to IMU unit

Vi-Owner Connect IMU pins to Arduino pins through I2C interface

Vi-TODO Raspberry Pi

Vi-Owner Connect cameras to board

Vi-TODO Batteries

Vi-TODO Research Lipo-cell regulators for more than one battery

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.

Dharsh-TODO Propellors

Dharsh-TODO Pick up propellors from amazon

Dharsh-TODO Check if propellors fit the shaft.

Troubleshooting in advance.

Measure motor shaft thickness and update inventory. When propellors arrive, check for cavity thickness

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.

Motor Shaft is bigger but just a bit too big. Use a drill bit that fits the width of the propellor cavity. Borrow one from the woodshop and use the drill press.
Motor Shaft is smaller but just a bit too small. Use glue to make up for the difference and ensure that the propellors are aligned properly. Let the glue set when the motor is running.
Propellors are absolutely screwed.
1. Buy from MicroCenter over the weekend OR
2. 3D print propellors using the SLS printer.

Dharsh-TODO Connect propellors to motors and try dc powered test.

Vi-TODO Check for number of motors required for drone configuration

Dharsh-TODO Simulink

Vi-Owner Added RASPlib library

Vi-Owner Implemented feedback-input comparator

Vi-Owner mux-ed and demux-d input and made subsystem

Dharsh-OWNER Integrate Motor controllers

Dharsh-TODO Add .c files to Matlab

Dharsh-TODO Add motor controller blocks to a subsystem and define input/output

Note: Making this a seperate subsystem will make it easier to switch to a hexacopter motor control.

ASK-Trey Make a PID subsystem that accepts position based input.

Vi-TODO Building process

Vi-TODO Build c files and avr to arduino mini.

Vi-TODO Document in a bash script for easy use.

Dharsh-TODO SPI Communication with Raspberry pi to Arduino

Dharsh-TODO Communication between Raspberry pi and Matlab

Note: If possible, add external python functions for ease of use

Dharsh-TODO Controller logic

Dharsh-Owner Implement gyrometer, accelerometer & magnetometer PID controller

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 Recommends switching to a position based PID controller

Dharsh-Owner Implement position based controller in Simulink

Note: Pretend that the Raspberry Pi is sending signals but actually use the keyboard for mocking.

ASK-TreyTune the PID controllers for the drones

Note: Begin with the innermost loop first and work your way out

Vi-TODO OpenCV Software

Vi-TODO Implement the video combination thing and connect to Simulink

Vi-TODO Make simulink block that outputs velocity

Vi-TODO Create recognizable and easy to print rectangular squares for opencv to detect

Vi-TODO Camera lens distortion is an issue, pls fix

Vi-TODO Release OpenCV application as a statically linked package for MAtlab to use

Note: Remember uploading pything functions earlier with numpy? Didn’t go well.

Vi-TODO Drone Frame

The place where everything comes together! Design requirements below to aid design process.

Basic Requirements:

[ ] Plywood body for drone.
[ ] Fix components into drone body using screws
[ ] Follow secondary requirements as much as possible.

Secondary Requirements:

Battery -[ ] Have space for drone cell or multiple cells if possible.
- Have easy access to charging battery with a usb port (possibly the one used by Android phones pre-2017)
Camera
- [ ] Forward facing
- [ ] Rest in static vertical position using a small slot in frame.
Motor & Propellors
- [ ] Ensure that there is adequete space for propellors and motors to prevent collision
- [ ] Since plywood isn’t appropiate for 3d structures, use ABS to make a small motor housing.
IMUs
- [ ] Ensure that the IMU is fixed with reference to the drone body
- [ ] Ensure that the code taken in by matlab doesn’t have differnt orientations than real-life
General Electronics safety requirements
- [ ] Ensure that electrical components are seperated from each other by air whenever possible.
- [ ] Use glue on any extruding wires to minimize chance of electrical shortage

Tertiary Requirements

Style
- [ ] Add a brief description of the project with atleast the following: Name, Github Link, Authors.
- [ ] Use printing tape for any engraved designed.
- [ ] Stick to easy to engrave designs
Payload
- IR Emitter
  - [ ] Place the IR emitter and stop moving drone if too close to the wall.
- LEDs
  - [ ]Add LEDs to demonstrate extra power consumption

Vi-Owner Place components on plywood/paper for rough mockup

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.

Vi-Todo Scan drawings for future reference.

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.

Vi-TODO Design drone shape

Vi-TODO Design phase for drone frame

Vi-Owner Try to make thin frames with multiple overlays

Effectively, make it thin and increase strength on thin frames by two planks. Go Deformable Bodies!

Vi-TODO Separate arduino & raspberry pi to prevent electrical shortages

Vi-TODO Add super glue to any extruding electrical components to minimize electrial shortages

Vi-TODO Solidworks phase

Vi-TODO Create mutilayer drone shape in SLD

Vi-TODO split using the split body function and check for excessive angles ruining final product.

Note: Also make sure it looks great.

Vi-TODO Invention studio

3D print house casing for motors instead of using plywood.

Inventory

Quantity	Item	Require	Status
5	batteries	2
4	micro sd cards	2
3	micro sd card adapters	2
4	arduino minis	2
2	raspberry pi 0’s	2
1	fully cloaked raspberry pi 0	0
1	card reader	1
2	IMUs - MPU965	2
20	Motors	8
0	Propellors	8	Amazon Delivery under way (Dharshan)
2	Plywood	1
8	Motor Controller	4

Battery

Capacity: 500 mAh
Voltage: 3.7V

Raspberry Pi

Spec sheet Link

Arduino Pro Mini

- Spec sheet Link

Motor

No spec sheet available
KV Rating

Dharsh-TODO Propellers

No spec sheet available

IMU

I2C Layout

Brief Description

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