@Nikks

I further worked on the terminal. Today i have added two things:

1. The way the input and output is given in the terminal. Its very close to a standart terminal and acts like it.
2. The cursor bar. I have added a distinct function masking the normal cursor bar with a terminal style cursor bar that works so nice.

also for now the output of the commands(for now just text) is the input itself but in the next session im going to add official commands and a /help too :)

Today I made the terminal window. As usual it will has all the characteristics of the notes window and also I tried to replicate a terminal design as much as possible.

For now the terminal doesn’t work and it just gives the same output as what we type but ill work on that. But I this this was a good front end work.

Today I have solved a lot of bugs and glitches that is making the project not work properly. These the the things i changed today:

1. The yellow wire of the encoder was loose so i had to resolder that.
2. I use a screw terminal for the power of the motors which is 3.3v and i had to replace the screw terminal
3. I had to change the dimensions of the rover correctly in odom_publisher.py

also for debugging i did use a bit of AI.

and a last it works perfectly. though i have to control it manually its now ale to make the map accurately.

These are the things i have done in this session:

1. I created a terminal icon and gave it the same charecteristics as the notes icon.

2. I added a reset button which makes the app icons go back to their previous place and this clears the local storage too.

3. I significantly upgraded the dragging system and tbh i spent a really long time for this so please check this out. The icon won’t overlap now and also i gave them real desktop like behaviour.

4. I also added desktop boundaries so that the icons dont go off screen.

I have made the Icon movable like an actual icon on a desktop. Also added a grid so that the icon snapped to a place like again a normal desktop.

Also i have added local storage for this icon position so when you change the position of the icon and reload the website the icon will stay at the place you left it. I though it was cool.

also for the people who find the boot screen appearing every time you can just change the dev mode true in Script.js and it’ll be bypassed. I planned a solution for this so stay tuned :)

I have for the first time actually made a map. It was on Rviz2 and its pretty inaccurate which i think is because i didn’t measure the dimensions of the rover correctly so ill fix that in the next sitting.

I made a battery capacitor indicator for the rover. It uses some ICs and three leds. I made it on a breadboard and will make a pcb for it later

I have made a lot of changes and forgot to make devlogs. I made a beautiful booting screen and also a beautiful intro screen. I also added a notes app which saves automatically.

I have coded for the rover to give out the servo angles and also the TOF sensor distance values. Also i have made it so that the servo also use the tilt feature to scan for things that are hollow like a bed so that the rover doesn’t just go under the bed.

I wrote a lot of code today!
So today I did two things

1. I wrote some c++ code for the rover and uploaded it to the esp32. It basically gets all the values of the motor encoders and send them to the laptop ROS2 node.

2. I wrote a python script to calculate all those encoder ticks and change them to x and y acceleration and also linear z acceleration for the turning. This allowed me to see live the acceleration in x, y and also z(twisting)

I have officially made the rover work a bit. Today I have made it so that I can actually see the TOF sensor work like a psudo-liDAR. In rviz i have plotted some dots which is the edge of my room.

This is just from the perspective of the rover which means where ever the rover is pointing it will only scan that particular area. Next I’m going to make the rover move and then it will plot the are from third person view and it will actually start mapping the room

I had a error where one of the motors were not working and i thought it was the driver. I even ordered two more drivers and after burning my finger again then i found out that its the batteries. They were discharged.

So two things have happened. One is a good thing and another is a bad thing.

The good news is that i have successfully inegrated ros 2 to the rover and controlled it using my laptop keyboard

The bad new is that my motor driver nowhas one burnt mosfet causing my right wheel to not turn front. So now i have to buy a new aone and exchange it.
In the mean time i can configure and tune the TOF sensor to scan its surroundings.

I have attached the TOF sensor to the servo mount. I first removed the servos then made holes to fit the TOF sensor but then when I added the servos I got to know that the servos were in the way. So i had to move the TOF sensor and at last i figured it out and screwed it in place.

I have fixed the servo pan and tilt mount on the rover.
I have also tested the servos and they work perfectly. Ihave driven the rover with the servos running in full speed and the rover is still very stable to visible wobble was there. But when the servo run very slow there is some shake in the mount. I think I should do smtg to prevent that as the scans would heavily get disturbed with vibrations.

I just made the schematics of the main Pcb that i already made. Also it is my first time making a circuit or even trying to so please excuse me if the connections are a bit confusing.
For better understanding I will add all the connections in the readme file so please check that too. :)

I have added another mdf board on top of the pcb using brass standoffs. This majorly gives me two advantages.

1. It keeps all the wires and the circuits hidden under the upper plate which makes the rover look neat.

2. It gives me space on the top and also some height for the servo and the TOF sensor to keep so that there is nothing that interferes with the TOF sensor while its reading the distances. This makes it have no false reading which gives us a good result.

I also did observe that the rover is tilting a bit to the front which i think is not a big problem as it can be solved using the tilt servo in the servo mount. We can use the built in MPU6050 to get the exact tilt and counter it giving us perfect 90 degree readings.

I have tested the servo motor and the TOF sensor to see if the mount was working perfectly and to check if the TOF is also working good.
There was a bit of shaking or vibration because the servo motor was not very accurate and i have to stop it every 2 degrees for the TOF sensor to measure the distance.
It was solved partially by connection the servo o external power supply which wont be the problem with the rover as its powered using 2 18650 batteries.
By tweaking the speed and degrees of the servo it was further improved and the data was fine not bad but not great either. I think to properly make the data show we need to use ROS.

I made the wire connection from the motors to the board a it better and i taped everything to make sure nothing touches smtg thats not meant to be touched.

I also added a switch in between the battery holder and the buck converter so that i don’t need to take out the batteries every time apart from charging.