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nielmistry committed Jan 31, 2024
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18 changes: 9 additions & 9 deletions index.html
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Expand Down Expand Up @@ -63,8 +63,8 @@ <h2 class="!my-0 pb-1 font-bold !leading-none">Main Board and Pico Communication
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2 changes: 1 addition & 1 deletion index.xml
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<?xml version="1.0" encoding="utf-8" standalone="yes"?><rss version="2.0" xmlns:atom="http://www.w3.org/2005/Atom"><channel><title>Opus Build Blog: Autonomous Mural Painting Robot</title><link>https://uwopus.github.io/blog/</link><description>Recent content on Opus Build Blog: Autonomous Mural Painting Robot</description><generator>Hugo -- gohugo.io</generator><language>en-us</language><lastBuildDate>Fri, 18 Mar 2022 15:15:51 -0500</lastBuildDate><atom:link href="https://uwopus.github.io/blog/index.xml" rel="self" type="application/rss+xml"/><item><title>Conclusion &amp; Symposium!</title><link>https://uwopus.github.io/blog/posts/final-post/</link><pubDate>Fri, 18 Mar 2022 15:15:51 -0500</pubDate><guid>https://uwopus.github.io/blog/posts/final-post/</guid><description>We presented Opus at the capstone symposium! It was a great success.
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Here&amp;rsquo;s a photo of the finished robot in the middle of a marking session:
Here&amp;rsquo;s a video of it drawing a smile!
We passed the program a CSV file with a series of waypoints, and whether the marker is engaged for the waypoint or not. The on-board Raspberry Pi Zero makes the trajectory, converts the trajectory to spool speeds, and sends the requested spool speeds to the Pico Board.</description></item><item><title>Finding End Effector Position</title><link>https://uwopus.github.io/blog/posts/position_math/</link><pubDate>Fri, 04 Mar 2022 22:15:51 -0500</pubDate><guid>https://uwopus.github.io/blog/posts/position_math/</guid><description>This math allows the robot to translate velocity requirements in the global coordinate frame of x and y to velocities of the ropes. We first defined two coordinate systems and gave names to the various names and angles in the diagram:
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