RU-PRISMM

The codebase for Northeastern's Mars Ice Team

TODO

• Firmware
  • Incorperate more thermistors
  • Creating configs for different components that are loaded at startup (with params)
    • Ex: steps/mm, data send rate, tool displacment
  • add interrupts on limits to zero the motors
• RPi Software
  • Create basic MSGs and SRVs
• UI:
  • RQT window for image views
  • RQT window for interaction with prismm
    • Create simple radio button interaction with ROS
    • Decide how to split up window
    • Brainstorm all needed functions
    • Prototype window that interacts with ROS
• Misc
• Create datalogger (save to file, csv?)
  • Create (MATLAB) code to view data log
• Decide what is needed to analyze sensor data to evaluate a digital core
• Test load cells and thermistors and calibrate them

Notes/Ideas:

• PID speed on the drill (needs electronics and more magnets for better rpm measurement)
• Movements only go through if they wont compromise the device. Ex: cant move X axis while probe is in/close to the ground. Speeds would also be set depending on proximity to the ground. There should be some override incase "wiggling" is needed when underground
  • Motor speed modifier in UI and a override for audo speed adjustment (override unlock direct speed settings)
• Would it be advanagous if all commands were services instead of messages?