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Welcome to the SPOT Wiki! You are currently on the 'Home' page, which is the root for all other pages on the wiki. If you are a student of the lab, please feel free to update the wiki if you find anything out of date.

⭐ Current Laboratory Status ⭐

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General Information

• Overview of the Spacecraft Proximity Operations Testbed
• Notation and Standard Nomenclature
• Reference Frame Definitions

Getting Started

• First Time Software Setup
• Running a Simulation
• Experiment Booking Logistics
• Setting up the Laboratory for an Experiment
• Running an Experiment
• Platform Shutdown Procedure
• End of Day Procedures

General Laboratory Procedures

• Emergency Procedures
• Compressor Instructions
• Spacecraft Assembly/Disassembly Procedure
• Measuring the Mass Properties
• Exporting Experiment Videos with QC Viewer
• PhaseSpace Calibration Procedure

Commercial Lab Components

• Getting Started with the Jetson TX2
• Collecting Raw PhaseSpace Data (C++)
• Re-assigning or Setting up a PhaseSpace LED Driver
• Recording ZED Footage
• Getting Started with the LiDAR Camera L515

Communications

• Sending Data to the Jetson TX2
• Sending Data from the Jetson TX2
• Remoting into the Xavier Computers
• Manually Controlling GPIO Pins (Pucks)
• Copying Files between Windows and Linux
• Lab IP Addresses & Router Login
• Assigning an IP Address to a New Device
• Setting up SSH Key for Passwordless File Transfers

Custom Device Drivers

• Creating a Custom Device Driver Block (Source)
• Creating a Custom Device Driver Block (Sink)

Advanced Software Guides

• Simulink Diagram Details
• Graphical User Interface Details (WIP)
• Running Simulations without the GUI
• Getting Started with Computer Vision
• Dynamixel Actuators Code Overview
• PCA9685 Code Overview (Hardware PWM)
• Using Jetson.GPIO for PWM (Software PWM)
• Download the PhaseSpace X2E SDK/API

Hardware Guides

• Structure Details
• Docking Specifications
• Propulsion Subsystem
• Flotation Subsystem
• Power Subsystem
• Vision Subsystem
• Reaction Wheel Subsystem
• Robotic Manipulator Subsystem
• Emergency Stop System
• Ground Truth System
• Computer Subsystem
• Hardware PWM Subsystem
• Solar Panel Subsystem

Pre-Release Software Guides

• First Time Software Setup - SPOT 4.1 PR.1
• Running a Simulation - SPOT 4.1 PR.1
• Running an Experiment - SPOT 4.1 PR.1

Other

• Reimbursement Process for Out of Pocket Expenses
• SPOT velocity estimator -- Summer 2024 Showdown

How to Use GitHub

• About Branches & Forks
• Creating a Fork
• Updating a Fork
• Creating a Pull Request (Fork)
• Creating a Branch
• Updating a Branch
• Creating a Pull Request (Branch)

Frequently Asked Questions

• Software Issue - Debugging the SPOT GUI
• Experiment Issue - PhaseSpace Turns on Briefly, then Turns Off
• Experiment Issue - PhaseSpace does not turn on when clicking "Start Experiment"
• Experiment Issue - Experiment not Starting but LEDs are ON
• Experiment Issue - Unstable Platforms
• Experiment Issue - LEDs on platform(s) not turning on or finicky connection
• Experiment Issue - It is difficult to remove the air tank from the platform
• Hardware Issue - Pucks not turning on
• Hardware Issue - MX-64 Actuators not sending Encoder Data
• Hardware Issue - Troubleshooting the Dynamixel MX-64 Actuator
• Hardware Issue - One or More Thrusters are Stuck Open
• Hardware Issue - Can ping, but cannot connect, to platform
• Question: How do I Submit an Issue?
• [Hardware Issue - Jetson won't boot after removing dependencies/libraries]

SRCL Shared Photos + YouTube Channel

• Google Photos
• YouTube Channel

Wiki Video Links

• (Obsolete) Running a Simulation & Experiment: https://youtu.be/N2YYbz6UxEw
• Forking the SPOT Repository: https://youtu.be/Vu77edOiv6o
• Charging a Platform: https://youtu.be/wDpUcpgEBgA
• (Obsolete) Charging a LED Battery Pack: https://youtu.be/_GZzT4T4Xq8
• Filling an Air Tank: https://youtu.be/2G6YD_iBmaA
• Installing an Air Tank: https://youtu.be/4xL3vRoF7FE
• Removing the Table Cover: https://youtu.be/SlMJ5HH1QAo
• Retrieving the Isopropanol: https://youtu.be/FV0SlslyTb4
• Table Cleaning Procedures: https://youtu.be/vPrkG5OoGf
• Cleaning the Pucks and Moving a Platform: https://youtu.be/eQQ0q6dXufQ
• Placing the Table Cover: https://youtu.be/UVv9MAwmUHA
• Installing the Robotic Arm: https://youtu.be/ZjW5lB-b85M
• Removing the Robotic Arm: https://youtu.be/DBf80lnoqBc
• Caution when Using the Robotic Arm: https://youtu.be/HPy-Iqhq7rs
• (Obsolete) Saving Experiment Data: https://youtu.be/ntCqurUpT-ko
• Exporting Videos with QC Viewer: https://youtu.be/H8Ht0rh1U1E
• (Obsolete) Connecting to a Raspberry Pi Remotely: https://youtu.be/qx_tlaEQd2g

Software Archive

• Click here to access all past versions of the SPOT software and any CAD files
• Click here to download the project files for the Capstone 2024-2024 experiment