This is my repository for ECE 4160: Fast Robots at Cornell University during the Spring 2025 semester.
This project is maintained by vs356
In this lab, we use the fully assembled robot (mainly the ToF sensors, IMU, the open-loop control established in Lab 6) to allow the robot to map its surroundings and identify viable paths. I also reviewed Lecture 2 (transformation matrices) before beginning work on this lab.
Task 1: Program your robot to spin around its own axis in small increments interspersed with brief stops to record ToF readings.
Task 2: Execute your complete turn in an enclosed space.
Task 3: Observe how precise the turns are by plotting them in polar coordinates.
Task 4: Compute the transformation matrices and convert the measurements the distance sensor to the inertial reference frame of the room.
Task 5: Manually estimate where the actual walls/obstacles are based on your scatter plot, and convert into a line-based plot that can be placed in the simulator. To do this after my robot is able to map the obstacle course in the lab, I would draw lines on top of the scatter plot generated by the turn and estimate coordinates for each vertex of the perceived map. I would then save two lists containing the vertices formatted as (x_start, y_start) and (x_end, y_end) to plot the entire obstacle course.