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README.md

@@ -1,72 +1,55 @@
-# A fancy titled project - Project documentation
+# ECLIPSE - Project documentation
 
-__:bangbang: Important :bangbang:__  This file is the documentation of your project. It should contain all requirements, crucial information and steps to reproduce your work. It may be used to evaluate your work at the final presentation, so make it understandable, easy to use and up-to-date.
+![](images/eclipse_logo.png)
 
-__:bangbang: Remark :bangbang:__  Remember to make your code clean and well documented
+## Project structure
 
-[Markdown basic syntax](https://www.markdownguide.org/basic-syntax/)
+```
+.
+├── images
+├── src
+│   ├── computer-vision
+│   ├── hardware
+│   ├── rpi
+│   ├── desktop
+│   └── stm32
+├── project_plan
+│   ├── project_charter.md
+│   └── project_tasks_n_schedule.md
+└── report
+    └── report.md
 
-### Do's
+```
 
-1. keep your repository clean
-2. document your code 
-3. upload just the source code
-4. upload compressed images
-5. instead of movies upload gifs
-6. repository should be as lightweight as possible
+## Git usage
 
-### Don'ts
+First install git and oben `git bash` in a directory where you want to clone the repo. Then clone the repo with:
 
-1. don't upload binary and temporary files
-2. don't upload unnecesary copies of your files
-3. don't upload heavy files
-4. don't upload configuration files of your ide
+```bash
+git clone https://github.com/kcir-roberto/projects-jj-eclipse.git
+```
 
+In order to avoid conflicts, everybody should use their own branch. Please do not commit to master. To check on which branch you are, run
 
+```
+git branch --show-current
+```
 
-## Useful examples of markdown syntax
+If it shows `main`, don't create any commits. Instead, switch to your branch using:
 
-### Code
+```bash
+git checkout <your branch>
+```
 
-Code blocks are intended by four space or one tab. So this is a block code:
+Or, if you don't have a branch yet, create one with:
 
-    if (linkPortCore * 23) {
-        clip.cc(guid, importPrinter.webmail_password_domain.usb_printer_gif(
-                spool_rpc, seoTextThunderbolt), frame_cell_ole);
-        tracerouteSystem += -5;
-    } else {
-        queueDisk(ppp);
-        gammaDesktopDns = mailDiskMemory;
-        dragBalanceWired = quicktime_word_macro(illegal_hibernate_srgb, 962835 +
-                5);
-    }
-
+```bash
+git branch <your branch>
+```
 
-### Tables
+Please, as a name of your branch select `your name/topic`. This way its visible who is the owner and what is the purpose of the branch.
+Once you are on your branch, use `git add`, `git commit` and `git push` to manage your stuff.
 
-Tables in markdown can be made with use of hyphens (---) and pipes (|). Namely
+### Links:
 
-    | header1 | header2 |
-    | ------- | ------- |
-    |  elem1  | elem2 |
-    |  elem3  | elem4 |
-
-generates following table 
-
-| header1 | header2 |
-| ------- | ------- |
-|  elem1  | elem2 |
-|  elem3  | elem4 |
-
-### Images
-Images can be included to the markdown page with use of the following syntax 
-
-    ![alternative text](path/to/the/image.png)
-
-For example:
-
-![cyrobek](images/CyRobek.png "load image to markdown file")
-
-### Other useful elements of markdown syntax
-
-___The basics of markdown syntax you will find here: [markdown basic syntax](https://www.markdownguide.org/basic-syntax/)___.
+The basics of markdown syntax you will find here: [markdown basic syntax](https://www.markdownguide.org/basic-syntax/).

project_plan/project_charter.md

@@ -1,36 +1,70 @@
-# A fancy titled project - Project Charter
+# ECLIPSE - Project Charter
 
 ## Project description
+The acronym ECLIPSE stands for rEmotely ControLled InsPection SystEm.
 
-Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. Eget nunc scelerisque viverra mauris in aliquam sem. Nunc sed id semper risus in hendrerit gravida rutrum. Ultrices eros in cursus turpis massa. At risus viverra adipiscing at in. Posuere urna nec tincidunt praesent semper feugiat nibh. Nascetur ridiculus mus mauris vitae ultricies. Volutpat odio facilisis mauris sit amet massa vitae tortor condimentum. Fermentum odio eu feugiat pretium nibh ipsum consequat nisl. Luctus venenatis lectus magna fringilla. Feugiat in fermentum posuere urna. Nisl rhoncus mattis rhoncus urna neque viverra justo. Ultricies integer quis auctor elit sed vulputate.
+## Project objectives
 
-## Reasons for undertaking the project
+The purpose of this project is to create a small, remotely controlled device with a gripping unit. The design should allow to work in harsh environment and places not accessible by human.
 
-Arcu non sodales neque sodales. Accumsan in nisl nisi scelerisque eu ultrices vitae auctor. Pellentesque adipiscing commodo elit at imperdiet. Morbi blandit cursus risus at ultrices mi tempus imperdiet nulla. Neque gravida in fermentum et sollicitudin ac orci. Nisl nunc mi ipsum faucibus vitae aliquet nec. Tempor id eu nisl nunc mi ipsum. Tristique senectus et netus et malesuada. In hac habitasse platea dictumst quisque sagittis. Ultricies tristique nulla aliquet enim tortor at auctor. Diam quis enim lobortis scelerisque fermentum dui faucibus in ornare. Sagittis aliquam malesuada bibendum arcu vitae elementum. Dignissim convallis aenean et tortor. Eget mi proin sed libero. Id aliquet risus feugiat in ante metus.
+## Success criteria
 
-## Objectives of the project
+- The robot should be able to go through a rectangular hole 50 cm wide and 50 cm tall.
+- The robot should have a gripping unit that enables picking up and moving payload modelled as a paper cube 2x2x2cm.
+- The robot does not stop on obstacles shorter than 5mm.
+- The robot should be able to drive for 5 minutes continuously or stand 30 minutes in idle.
 
-Id consectetur purus ut faucibus pulvinar elementum. Eu ultrices vitae auctor eu augue ut lectus. Mi bibendum neque egestas congue quisque egestas diam in arcu. Elit eget gravida cum sociis natoque penatibus et magnis. Est lorem ipsum dolor sit amet consectetur adipiscing. Malesuada fames ac turpis egestas maecenas pharetra. Etiam non quam lacus suspendisse faucibus interdum. Amet volutpat consequat mauris nunc. Fringilla urna porttitor rhoncus dolor purus. Libero nunc consequat interdum varius sit amet mattis vulputate. Risus viverra adipiscing at in tellus integer. Amet est placerat in egestas erat imperdiet. Accumsan sit amet nulla facilisi morbi tempus iaculis urna id. Phasellus egestas tellus rutrum tellus. Pharetra magna ac placerat vestibulum lectus. Parturient montes nascetur ridiculus mus. Consectetur adipiscing elit duis tristique sollicitudin nibh sit amet.
+## Optional success criteria
 
-## Constraints of the project
+- The robot recognizes following objects: scissors, teddy bear, cup, fork, knife, spoon, bowl, bottle, mobile phone.
+- The robot should withstand spraying it with water from distance of 20cm using water sprayer creating mist.
 
-Vitae turpis massa sed elementum tempus egestas sed. Volutpat commodo sed egestas egestas. Non pulvinar neque laoreet suspendisse. In arcu cursus euismod quis viverra nibh cras. Enim neque volutpat ac tincidunt. Odio facilisis mauris sit amet massa. A erat nam at lectus. Nascetur ridiculus mus mauris vitae ultricies. At in tellus integer feugiat scelerisque. Cursus euismod quis viverra nibh. Curabitur gravida arcu ac tortor dignissim convallis. Dolor morbi non arcu risus. Aliquam etiam erat velit scelerisque. Pellentesque dignissim enim sit amet venenatis urna. Porttitor lacus luctus accumsan tortor posuere ac ut consequat. Eros in cursus turpis massa tincidunt dui ut. Neque viverra justo nec ultrices dui sapien eget mi.
+## Main stakeholders and responsibilities
 
-## Directions concerning the solution
+- Jakub Kaszowski: Project leader, low level programming
+- Paweł Rak: Mechanical and visual design
+- Suheyla Keskin: Hardware development
+- Mikołaj Pastucha: Remote control, video streaming
+- Ryan Oliver Roberts: Computer vision
 
-Dui id ornare arcu odio ut sem. Congue eu consequat ac felis donec et. Neque egestas congue quisque egestas. In dictum non consectetur a erat nam at. Rutrum quisque non tellus orci. Odio tempor orci dapibus ultrices in iaculis nunc sed. Varius vel pharetra vel turpis nunc eget. Porttitor rhoncus dolor purus non enim praesent elementum. Senectus et netus et malesuada. Arcu non odio euismod lacinia at quis risus sed vulputate.
+## Risks identified early on
 
-## Main stakeholders and responsibilities
+The biggest risks in coresponding parts of the project:
 
-- Student no. 1: responsible for the implementation of the algorithm solving problem
-- Student no. 2: responsible for the design of the PCB and hardware
-- Student no. 3: responsible for acquisition and handling sensor data
+- Hardware: mistakes on PCB, availability of components.
+- Software: C++, drivers unable to handle project requirements.
+- Mechanical too weak motors/servos, electronics heating up.
+- Computer vision: insufficient lighting, not enough computational power.
 
+All of the section have common risks:
 
-## Risks identified early on
+- Under estimated effort of tasks
+
+## Risk mitigation
+
+| Risk                                                              | Solution                                |
+| ----------------------------------------------------------------- | --------------------------------------- |
+| Errors in hardware design                                         | Using breakout modules and unversal PCB |
+| Lack of necessary components                                      | Buying components before making PCB     |
+| Groundbreaking problems with suspension                           | Drop the objective                      |
+| Problems with remote control with game controller using bluetooth | Connect it to PC using cable            |
+| Not enough computational power for computer vision                | Offload computations to PC              |
+| Drivers unable to handle project requirements                     | Modify objectives                       |
+| Insufficient lighting                                             | Embed LED strip in front of camera      |
+
+## Projct milestones
 
-Volutpat ac tincidunt vitae semper. Lorem mollis aliquam ut porttitor leo a diam. Euismod lacinia at quis risus sed vulputate odio ut enim. Fringilla ut morbi tincidunt augue interdum velit euismod. Phasellus vestibulum lorem sed risus ultricies tristique nulla aliquet enim. Massa sed elementum tempus egestas sed sed risus. Euismod elementum nisi quis eleifend quam adipiscing vitae proin sagittis. Sem nulla pharetra diam sit. Volutpat maecenas volutpat blandit aliquam etiam. Blandit turpis cursus in hac habitasse platea. Nisi scelerisque eu ultrices vitae auctor eu augue ut. Accumsan sit amet nulla facilisi.
+1. The design of hardware is completed, software proof of concept is working (video streaming), design of chasis is completed.
+2. The hardware is soldered and tested, software is partially completed (video streaming), mechanical elements are 3d printed and ready for assembly.
 
-## Target project benefits
+## Available resources
 
-Turpis in eu mi bibendum neque. Neque viverra justo nec ultrices dui sapien. Risus sed vulputate odio ut enim blandit volutpat maecenas volutpat. Laoreet suspendisse interdum consectetur libero id faucibus nisl tincidunt. Sagittis purus sit amet volutpat consequat mauris nunc congue nisi. Mauris pharetra et ultrices neque ornare aenean euismod. Scelerisque mauris pellentesque pulvinar pellentesque. In hac habitasse platea dictumst quisque sagittis. Scelerisque varius morbi enim nunc faucibus a pellentesque sit. Scelerisque viverra mauris in aliquam sem. Tellus molestie nunc non blandit massa. Viverra accumsan in nisl nisi.
+| Resource                                 | Source                                 |
+| ---------------------------------------- | -------------------------------------- |
+| Mechanical chasis, suspension and wheels | 3D printer or off-the-shelf components |
+| 1 standard CSI camera                    | Lab resources or electronic shop       |
+| LED strip                                | Electronic shop                        |
+| PCB                                      | jlcpcb                                 |
+| STM32F1                                  | Already owned                          |
+| Raspberry Pi 4                           | Lab resources or already owned         |
+| Xbox One game controller                 | Already owned                          |

project_plan/project_tasks_n_schedules.md

@@ -1,45 +1,93 @@
-# A fancy titled project - Project Schedule
+# ECLIPSE - Project Schedule
 
 ## Tasks
- - Task 1:
- - Task 2:
- - Task 3:
- - Task ...:
- - Task 10:
- - Task 11:
+
+### Low Level Software
+
+- Task 1: Project template for STM32 is setup
+- Task 2: Driver for uart
+- Task 3: Driver for servomechanism
+- Task 4: Commands implementation
+- Task 5: Bug fixing
+
+### Hardware
+- Task 6: Determination of components and ordering
+- Task 7: List of needed features of custom design PCB
+- Task 8: Having list and schematic of elements of require power, selection of rechargeable battery and calculation of power consumption of each element due to time
+- Task 9: Custom PCB and ordering
+- Task 10: Powering mechanical and electronic elements and testing (before the PCB receive)
+- Task 11: Check point and risk control of hardware elements, decision of backup plans
+- Task 12: Soldering the elements on PCB and mechanical structure of the car
+- Task 13: Problem solving and improving (time for adjustments) and in case of failing on any kind of the parts decisions of the backup plans
+
+### Software
+
+- Task 14: Consideration of the languages to be used
+- Task 15: Selecting libraries
+- Task 16: Creating the application in QT
+    -  Creating the GUI 
+    -  Backend - creating a client on the PC to communicate over TCP/IP
+    -  Installing the server on the RPI
+    -  Decision on commands to be used for communication
+    -  Downloading the on-board camera stream in near real time
+- Task 17: Communication delay tests
+- Task 18: Deployment of the application
+
+### Computer Vision
+
+- Task 19: Selection of model and dataset to be used
+- Task 20: Testing Image Capture
+- Task 21: first round of image captures for training
+- Task 22: second round of image capture for training
+- Task 23: camera calibration for precise tracking
+- Task 24: First test of running script on RPI
+- Task 25: error correction
 
 ## Milestones
- - Milestone no. 1: SMART description of the milestone
- - Milestone no. 2: SMART description of the milestone
- - Milestone no. ...: SMART description of the milestone
- - Milestone no. N: [Final presentation]: SMART description of the milestone
+ - Milestone no. 1: The design of hardware is completed, software proof of concept is working (video streaming), design of chasis is completed.
+ - Milestone no. 2: The hardware is soldered and tested, software is partially completed (video streaming), mechanical elements are 3d printed and ready for assembly.
+ - Milestone no. 3: Final presentation, project submission
 
  ## Gantt chart
 
 ```mermaid
 gantt
     dateFormat  YYYY-MM-DD
-    title A fancy titled project - Gantt Chart
+    title ECLIPSE - Gantt Chart
 
-    section Tasks
+    section Low Level Software
     Task 1           :a1, 2023-10-01, 2023-10-15
     Task 2           :a2, 2023-10-01, 2023-10-31
     Task 3           :a3, 2023-11-01, 2023-11-19
     Task 4           :a4, 2023-11-19, 2023-12-01
     Task 5           :a5, 2023-12-02, 2023-12-10
-    Task 6           :a6, 2023-12-10, 2024-01-01
-    Task 7           :a7, 2024-01-02, 2024-01-16
-    Task 8           :a8, 2024-01-17, 2024-01-31
-    Task 9           :a9, 2024-02-01, 2024-02-15
-    Task 10          :a10, 2024-02-16, 2024-03-01
-    Task 11          :a11, 2024-03-02, 2024-03-16
+    Task 6           :a6, 2023-12-10, 2023-12-20
+    section Hardware
+    Task 7           :a7, 2023-10-10, 2023-10-26
+    Task 8           :a8, 2023-10-10, 2023-10-26
+    Task 9           :a9, 2023-10-26, 2023-11-05
+    Task 10          :a10, 2023-11-05, 2023-11-23
+    Task 11          :a11, 2023-11-23, 2023-11-30
+    Task 12          :a12, 2023-11-23, 2023-12-09
+    Task 13          :a11, 2023-12-09, 2023-12-16
+    section Software
+    Task 14          :a11, 2023-10-10, 2023-10-26
+    Task 15          :a11, 2023-10-10, 2023-10-26
+    Task 16          :a11, 2023-10-26, 2023-11-30
+    Task 17          :a11, 2023-11-30, 2023-12-09
+    Task 18          :a11, 2023-11-30, 2023-12-09
+    section Computer Vision
+    Task 19          :a11, 2023-10-05, 2023-10-10
+    Task 20          :a11, 2023-10-10, 2023-10-15
+    Task 21          :a11, 2023-10-15, 2023-10-20
+    Task 22          :a11, 2023-10-20, 2023-10-30
+    Task 23          :a11, 2023-10-30, 2023-11-05
+    Task 24          :a11, 2023-11-05, 2023-11-08
+    Task 25          :a11, 2023-11-08, 2023-11-11
+    Task 26          :a11, 2023-11-11, 2023-11-15
 
     section Milestones
-    Milestone 1      :m1, after a2, 2023-10-31
-    Milestone 2      :m2, after a4, 2023-12-01
-    Milestone ...      :m3, after a7, 2024-01-16
-    Milestone N      :m4, after a11, 2024-03-16
-```
-
-
-More about how to make a gantt chart in mermaid, you will find here: [Mermaid Gantt](https://mermaid.js.org/syntax/gantt.html)
+    Milestone 1      :m1, after a9, 2023-11-05
+    Milestone 2      :m2, after a12, 2023-12-09
+    Milestone 3      :m2, 2024-01-17, 2024-01-17
+```

report/Makefile

@@ -0,0 +1,24 @@
+SHELL   = /bin/sh
+
+FILE0   = document
+TEX     = $(FILE0).tex
+XDV     = $(FILE0).xdv
+PDF     = $(FILE0).pdf
+
+all:
+	make tex
+
+tex:
+	xelatex -no-pdf $(TEX)
+	# xdvipdfmx.exe $(XDV)
+	xelatex -synctex=1 -interaction=nonstopmode $(TEX)
+	make clean
+
+pw:
+	zathura document.pdf &
+
+help:
+	echo "USAGE: make [all/tex/pw/clean]"
+
+clean:
+	rm -f *.aux *.dvi *.idx *.ilg *.ind *.log *.nav *.out *.snm *.xdv *.toc *~