## **lab 13** | **MP4** Survival Guide ### Design of Autonomous Systems ### CSCI 6907/4907 - Section 86 ### Prof. **Sibin Mohan** ### Spring '25 | SEH 4040 --- ## 1. Why you should worry about batteries!! Battery fires are really bad! ⚠️ - They’re not extinguishable! - Fire extinguishers won’t work—they don’t need oxygen to burn - Their heat can melt most stuff - Toxic fumes—**never inhale** them! --- **golden rules**: - Never let battery drop below **10%** - Check battery level every **10–15 minutes** - Set timers ⏳ if you have to --- ## 2. How to know if my battery is good? - Put battery on a **flat surface** and check if it **spins** - If yes → **swollen** → **don’t use it**! - A good battery is **never warm** <br> <br> <table bgcolor="orange" border="1" cellpadding="10"> <tr> <td>warm → <b>danger!</b> call TA immediately! </td> </tr> </table> --- ## 3. What to do if it’s on fire/warm/bulging? - Call a TA **immediately** - Avoid inhaling fumes - Don’t play hero — stay away from fire - Place in sand bucket if possible (we will provide it!) <br> <br> <table bgcolor="orange" border="1" cellpadding="10"> <tr> <td>no TA? call <b>GW Environmental Safety</b> → (202) 994-4347 </td> </tr> </table> --- ## 4. Objectives of MP4 MP4 is divided into 3 parts: - **Part 1**: Assemble & test the rover - **Part 2**: Write the **control algorithm** - **Part 3**: Write **waypoint file** - Also: object detection, stop sign & traffic light detection --- ## 5. Part 1: Assembling - Easy - Most of you have already done this --- ## 6. Part 2: Control Algorithm consider the following **four** steps: - Calculate **error terms** PID will minimize - _e.g.,_ distance from next waypoint - Write the **PID class** - Test rover with **existing waypoint** to make square - Tune your PID --- ## 7. Part 3: Writing Waypoints 3 sub-tasks: 1. Write waypoints that **actually work** 2. Add **object detection** 3. Add **traffic light/sign** detection - Don’t check them **too frequently** --- ## 8. Fin Stay safe, build smart and **ask for help** when needed!