Category

Development Updates

S.A.R.T Development Blog following the iterations and breakthroughs the team makes to all things hardware and software.

02
Jun

Mmmmmm. Yummy PyPot.

Hello, It’s me Barney again! This time I am writing about motors. The S.A.R.T team ran into an issue with the motors constantly overloading and not going to the desired speeds. After a little troubleshooting, the issue was found. The pyax12 library doesn’t support the new MX-12w motors. I decided to replace the library with...
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09
May

Control Unit & Access Point

Hello! It’s Barney again. I am here to give a few updates regarding S.A.R.T’s progress, considering we haven’t had an update for cough two months cough. We decided to remove the Xirrus XR-600 from the control unit and we are going to replace it with the Unifi AP AC PRO because the Xirrus access point...
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17
Mar

S.A.R.T. Team Description Materials for Q1 2019

Authors: Connor Kneebone, Matthew Williams, Jack Williams, Alexander Cavalli, Aaron Maggs, Ryan Ewyk, Riley Cockerill, Michael Cavalli, Charlotte Drury, Graham Stock, Ryan Millard-Cartwright Published: 17th of March, 2019 Abstract The Semi-Autonomous Rescue Team (herein known as the S.A.R.T.) is a group of STEM enthusiasts formed in late 2015 with the intent of developing and creating...
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13
Mar

SLAM

At the end of 2018 we were gifted a TurtleBot3 Burger by our new sponsor, Tribotix. A TurtleBot is a low cost robot that we built over a day during the holiday workshop. The TurtleBot has a Raspberry Pi 3 (Model B) and a 360° LiDAR, 3-Axis gyroscope, 3-Axis accelerometer and 3-Axis magnetometer sensors, OpenCR...
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24
Feb

Next Gen!

Say hello to SFX’s new SART team! This year’s team consists of three year 11’s, Barney Bruckner, Martin Hosking, Anthony Gambale and two year 12’s, Michael Cavalli, and myself, Charlotte Drury. Barney’s role is in Autonomy. Barney’s been charging ahead with basic self-navigation and looking into ROS (Robot Operating System) as an option. Please refer...
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22
Feb

Plans for Autonomy and ROS

Hello! I am Barney, I’ll be taking over autonomy for the next two years for S.A.R.T. This post isn’t actually about the progress of autonomy, but rather my plans for it. The main goal for the Mk 4, is to be able to follow the left wall throughout the course. Though this will be inefficient...
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02
Jan

Partner Helps S.A.R.T. Shake off the Shackles of Slow Sites

When we graduated St Francis Xavier College in 2017, we didn’t think we’d be back here writing a blog so soon. The great wheel that is the S.A.R.T. keeps turning, churning out iteratively better robots every few months. But one element of the project has been stuck in the past since we first built it...
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08
Nov

Stopping Servos

An issue we’ve commonly faced while operating our robot is that the servos will keep spinning if the script crashes or if we exit the script via CTRL+C. I’ve always had the stop_servos.py script for this exact purpose but it has to be executed manually after exiting the main script, i.e. python3 stop_servos.py. This script...
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04
Nov

Autonomy In Motion

Now that we have a rather nice PID controller, it’s time to test it! Enjoy responsibly Using just a PID controller alone, we can implement rudimentary autonomy. It’s only basic, but it’s a start and it’s the first time our robot has ever completed a course unaided. Another video, showcasing it from a different angle...
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02
Nov

Centering with a PID Controller

On our way to autonomy, one of the things we need to have is the ability for the robot to center itself left and right in the course as it moves forward. First, I’ll explain what a PID controller is and how we will use it on our robot. PID stands for Proportional-Integral-Derivative controller. It’s...
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