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The configuration settings and robot geometry found in this page are now part of the launcher app and can be found under the settings tab.

Filter App Guide

Calibration

Calibrating your Amiga ensures that the Inertial Measurement Unit (IMU) is accurately aligned with the robot's frame, essential for precise navigation and operation.

Why Calibrate?

• Accuracy: Proper calibration corrects any sensor biases and alignments, ensuring sensor readings are accurate.
• Performance: Accurate sensor data is critical for effective task performance, especially in autonomous navigation.
• Maintenance: Calibration is necessary when setting up your Amiga, after physical modifications, or when environmental factors (such as significant changes in temperature) could have affected sensor readings.

How to Calibrate?

1. Check Calibration Status: In the Filter App, look for the "Calibration Status" indicator

If it shows as "Calibrated" with a recent date, no further action is needed unless you've encountered issues that suggest recalibration is necessary. For example, the filter diverges often when the robot starts driving, or the robot goes significantly off the path when performing an autonomous task.

2. Begin Calibration

a. Click "Recalibrate" if needed.

b. Position the Amiga on flat ground, as indicated by the app's visual guide.

3. Perform Calibration

a. Confirm the correct positioning and start the calibration process.

b. The app will display a progress indicator and notify you upon completion.

4. Calibration Complete: The status will update to "Calibrated"

Fine-Tuning Settings

Adjust GPS antenna offsets, track width, and wheelbase to tailor the Amiga's movement to its operational environment and physical characteristics.

Why Fine-Tune Settings?

• Tailored Navigation: Compensate for unique physical configurations.
• Operational Precision: More accurate settings lead to more precise path following.
• Adaptability: Adjust settings when changing operational environments or the robot's physical setup.

How to Adjust Settings?

1. Access Settings Panel: Click the "Settings" gear icon in the Filter App

2. Adjust Parameters

a. Change GPS and IMU offsets to match your robot's setup. The reference point for the GPS is the center of the GPS antenna, and the reference point for the IMU is the center of the oak0 camera. See the illustration below showing how to measure the offsets of the GPS antenna.

INFO

Amiga Calibration Guide

To ensure accurate calibration of your Amiga robot, please adhere to the following measurement guidelines:

1. Unit of Measurement: All measurements must be taken in meters (m).

2. Reference Point: Begin all measurements from the central axis of the robot (center of the robot (in length & width) at ground level).

3. Axis Coordination:

   a. X-Axis Coordination:

   • Positive X Value: Assign this to anything located ahead of the robot's center.

   • Negative X Value: Use this for anything situated behind the robot's center.

   b. Y-Axis Coordination:

   • Positive Y Value: This applies to objects on the left-hand side of the robot's center.

   • Negative Y Value: Assign this to objects on the right-hand side of the robot's center.

Adhering to these guidelines ensures consistent and reliable data collection during your Amiga's calibration process.

b. Input the correct track width and wheelbase.

See the illustration below showing how to measure the wheelbase and track width of your Amiga.

3. Apply or Reset Settings

a. Click "Apply" to save new settings. b. Click "Reset To Factory Settings" if necessary.

4. Close Settings: After adjustments, close the panel to return to the main view

Remember, calibration and fine-tuning are key to the seamless operation of your Amiga. Ensure these steps are completed before engaging in autonomous operations to maximize efficiency and accuracy.