#Sample Return The source code and data for our robot
##Team Name
- Survey
##Robot Name
- Artemis (greek goddess, huntress, Apollo's twin sister, all around bad-ass chick)
As submitted to WPI in January. Needs an update.
#TODO ##Need to buy
- Replace James's camera
##New Computers?
- When?
- Graphics Card?
##Mechanical
- Double check camera FOV, perhaps new brackets
- Stiffen Wheel Yokes? (might not be a good idea. some flexibility is typical in lightweight designs, e.g. airplane wings)
- Lighter deck plates?
- Cut carousel down 2" or so to accommodate samples hanging below gripper fingers
- Add lightweight omni-directional speaker for audio feedback
##User Interface
- Speech Synthesis (or maybe just pre-recorded messages, e.g. "I found one!", "Picking one up", "Returning to home")
- Soft Shutdown switch
- Flashing Lights as described in rules
- Mode Switch
- joystick
- logging
- pre-cached
- full search
- Remote pause integration
##Motion
- Tune velocity loops
- Trajectory Following (as opposed to velocity control)
##Gripper
- Full position mode control
- Switch to MX64?
- Verify Capture
- Bin allocation
- Use all gripper inputs
- wrist angle
- expected grip width
- proper visual servo
- Add sticky foam pads to gripper fingers
##Navigation
- Test ScaViSLAM on our problem
- Sun Sensor?
- IMU?
- Global Map representation
##Sensing
- Visualization for detections
- Probabalistic detection model
##Planning
- select global planning technique
- select local planning technique
- State Machine (or real planner?)
- Watchdog algorithm that, for example, "starts over" if she thinks the whole place has been searched but not all the samples have been found
##Sample Sensors
- Wood Block
- Plates
- Pre-Cached
##Update Proposal