Diskussion:Aufbau und Test eines Autonomen Fahrzeugs

#	date	plan for this week	progress
1	03.03.26	Send the signed contract to administration. Safety briefing Workplace preparation (login, etc.) SVN access to the work folder Wiki access to personal article Discussion of working hours (Excel spreadsheet in SVN, commit with start time, commit with end time) Transponder issuance Setting up AlphaBot with Arduino IDE AlphaBot: Replace ball with wheel	All the tasks are completely finished for week 1 The wheel problem is almost resolved. I researched some potential options and shared the links with Mr. Ebmeyer. He mentioned that he will place the order, which may take some time.
2	06.03.26	Study article: SDE_Systementwicklung_WS25/26:_Spurverfolgung_mit_Kamera Drive with the AlphaBot in the right lane along the course. Speed up the AlphaBot to its limit. Record the yaw rate from the gyroscope. Calculate the yaw angle from the yaw rate. Compare the ground truth (TopCon Data) with the measured yaw rate. Handle the hardware with care! Document everything within your article.	Studuied the provided article and mounted gy-85 gyro scope sensor on Alphabot for yaw rate. Simulink has issue connecting with Arduino board still trying to fix the issue than I'll proceed with the speed up limit task and driving with pixy camera in the right lane.
3	17.03.26	Reuse the Simulink Lane Following Software from SVN. Drive the course in the right lane. Record the yaw rate from the gyroscope. Speed up the AlphaBot to its limit.	I have hold the simulink part for now as still simulink has issue connecting issue with Arduino but on the other side I was able to do it on Arduino IDE currently the Alpha bot can detect the line and follows the track but the front wheel stucks on the track so I am waitng for the new Wheel to come. Secondly I am able to get output of Yawrate and both motors speed on serial monitor on Arduino ide. Lastly I am trying to get all the ouptput results wirelessly via Wifi or Bluetooth Modul.
4	24.03.26	Record the yaw rate from the gyroscope. Speed up the AlphaBot to its limit. Calculate the yaw angle from the yaw rate. Compare the ground truth (TopCon Data) with the measured yaw rate. Handle the hardware with care! Document everything within your article.	I am able to record yaw rate from gyroscope as well as the yaw angle from the yaw rate. Increased of speed of AlphaBot can be noticed on its stand only for now but the real implementaion can only be done when the new wheel arrives as current ball wheels sticks to the track while running on track and its stops. Sucessfully connected to AlphaBot bluetooth output to Matlab. Seperate graph for each output.
5	31.03.26	We solved the problems with the bluetooth adapter with a minimal program. If this doesn't work stable we use an arduino uno R4 with wifi. Work on the tasks above.	I am able to record stable yaw rate on matlab via Arduino Uno Wifi R4 successfully.
6	14.04.26	Plan your software. Send data (counter) from Arduino IDE via Wifi. Can MATLAB receive data? What is the data rate? Work on the tasks above.	I have planned the software in a way that i have put counter in both Arduino and Matlab. And MATLAB can recieve data also it can plot that data on graphs. Data rate was slow as it was just one reading per counter.
7	21.04.26	Why is the data rate 1s? Who slows it down? What does the pixy 2 read? Document your control loop in the wiki article. Work on the tasks above.	Data rate was slow because I was using http webserver to send data on a webserver which can be seen on browser via Ip address and also on MATLAB.Http has slower speed and high latency. I fixed it by changing my communication protocol and now I am using TCP which has fast speed and lower latency and faster raw data sending. Pixy2 camera looks for high-contrast lines and them as a vector and it provides starting and ending cooridnates of line. Control loop added to wiki article.
8	28.04.26	Plan your controller. Discuss the plan with Prof. Schneider. Document your control loop in your wiki article. Write a minimal programm for the pixy 2 based o the example. How fast does the Camera read the line vector? 50fps? Work on the tasks above.	PID Controller will be used and in last discussion with Prof. Schneider he told that main focous must be on P and D control. Control loop is already added in wiki article. Work on mimimal program for the pixy2 camera and it reads the vector by its cooridnates and it is fast approximatley 50fps and sometimes even more.
9	30.04.26	Optimize the line vector from the Pixy 2.1. Determine the line heading (curvature, straight, left, right) from the Pixy vector. Calculate the curvature from the vector. Determine the offset in the lane regarding the middle of the lane. Compensate if the vector switches direction. Determine the current heading from the Gyroscope. Compare current heading to line heading and calculate error (e). Derivate the error $\frac{de}{dt}$. User a PID controller to minimize error and drive in the middle of the lane. Document your control loop in your wiki article. Work on the tasks above.	I have optimized the line vector output from the Pixy 2.1. Completed: curvature and lane offset calculation implemented it on Ardiuno successfully. PID controller implemented successfully and alphabot is driving in middle of the lane. Updated my control loop .
9	05.05.26	Detailed task list discussed. Do the tasks in order (1, 2, 3...)	Finshed all tasks.
9	05.05.26	AGAIN: Detailed task list discussed. None of the tasks were solved. Do the tasks in order (1, 2, 3...) Understand the Pixy-Camera parameters by the tutorials. Learn how to detect the line as an arrow.	I have finshed the task and able to get offset value 0 when alphabot is in centre of the track as discussed. Pixy-camera detects line with the help of an arrow, camera draws a vector over the path and the camera calculates a single directed arrow defined by a Tail (start point) and a Head (endpoint) of that vector. Alphabot is running in middle lane. Now I am planning to merge PID controller with my previous codes to get output of YawRate and YawAngle via WLAN on MATLAB. Uploaded video of lane tracking with pixy2 camera of Alphabot to my wiki artikle. Recorded YawRate and YawAngle via MATLAB graph. New mount installed to make gyro sensor position more stable. Planning to solding the wire connections as they were not tightly fixed. Mounted Prisma to get TopCon data for comparison. Recorded Alphabot Laps via Prisma and TopCon on MATLAB Trying to record both TopCon and Gyro sensor data on MATLAB for comparision