---
title: Fall 2021 Recap --> Spring 2022 Goals
tags: meeting-notes-spring-2022
---

# Fall 2021 Recap $\longrightarrow$ Spring 2022 Goals
## Voice Recognition (Ben)
Use wit.ai through Facebook (used to check string and train it to return the right thing) and Google Cloud speech recognition (initial string)

to-dos for spring 2022
- Try out Sphinx
- Train current voice recognition that we already have
- wit.ai is free, Google Cloud costs money

## Computer Vision (Maheep and Win)
Were using color detection to detect the individual robots and edge detection for the chess board

to-dos for spring 2022
- PIVOT!
- Going back to Apriltags because we would have to localize the each individual robot -- it could be in any position on the square and we want to make sure its not bumping into any robots in the square
- Can put Apriltags on front of robot
- Also easier to test in simulation

## Networking (Vinitha)
Connected 8266 chip to pico
- Connect to router through wifi
- Be able to control robots through RPI4 using wireless connections

## Path Planning (Maheep and Win)
- Create simulation using Gazebo
- Setup environment using ROS
- Develop path planning algorithm

## Simulation/ROS (Vinitha)
- ROS and Gazebo and Docker
- create Docker container for ROS environment

## Chess Piece
Put together first prototype of chess piece

- Laser cut bigger chess frames and put together new chess pieces

## Chess Board
- Create 2ft x 2ft tiles using plywood

## Motor Mounts
Developed different types of motor mounts using 3D printer and CNC
- Choosing to use 3D printed mount
- Modifications: make diameter bigger, figure out how make it less able to wear out (more layers around screw holes), increase space between clamp hole
- 3D print more after final design
- Have to test how hot motors get and see if the PLA will hold up
- Test PETG filament strength

## Wheels
Used 80mm wheels and drilled holes to make sure they stay on robot better
- Drill holes in remaining wheels

## Batteries
We got 11.1V 1000 mAh battery to run the wheels

- AA battery 5V enclosure to run the pico
- Create battery cage on front of robot

## Camera Mount
- Design and develop mount to place camera in the middle of the board

## CAD
- Adjust CAD to fit everything we need on the robot

## Shopping List
- Plywood for chess board
- Might need motors :)
- Breadboards
- Batteries (for pico and robot)
- RGBs