Week 3: Calibration and Configuration

This week was all about calibration, software optimization, and poster design.

Li and Jia worked closely, running tests to fine-tune our Cubli's sensors. Their dedication was key to improving its balance and responsiveness. Meanwhile, I focused on two major tasks. First, I continued designing our project poster. It's becoming a vibrant summary of our Cubli journey. Second, Wang and I tackled configuring the software environment. This was crucial for our next steps.

In Week 3, we found a major issue with Cubli's motor causing imbalance. We thought the problem was with the motor's encoder. To check, we made the microcontroller (MCU) prioritize showing motor angles. Tests showed the encoder was fine. Then, we suspected a missing motor phase. Testing showed normal resistance, ruling out motor issues. Next, we found one PWM signal missing, indicating a problem with the motor driver or MCU signal.

We hit a roadblock with the software. A communication glitch between the sensors and control algorithm emerged. It was a tricky problem that threatened our progress. But, together, we brainstormed and debugged intensively. Our breakthrough came when we identified a minor error in the data transmission code. Fixing this error was a victory. It significantly enhanced our system's performance and reliability.

Our project is not just about technical success but also about the journey we share. Stay tuned for our next update. We're excited to share more as we move closer to completion.

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