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Time stamped data collection happening, controller prints out to file every cycle.
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piano wire comes from McMaster, steel piano wire.
First feed nitinol tube through bronchoscope from distal to proximal. Use plastic guide (made of ptfe light wall tubing), advance them together around bend.
Then solder tracker (in needle) to piano wire which was pre run through the nitinol tube. (use flux)
Feed tracker and needle through sheath and collet.
Solder tracker wires to receiving end of tracker, the convention is:
6DOF WIRE
green yellow
gray purple
white white
gray blue
Always check the plastic sheath is on before driving needle, or it will buckle and die.
Run model -> stop model -> turn on robot -> run model
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Ran first needle single goal controller tries:
Straight single nitinol tube (ctr) with needle both through the bronchoscope into phantom gel.
Modifying insertional velocity constant and rotational velocity constant (lambdas in paper) seems to affect curvature values. We have theorized that fast insertion and slow rotation allow the flexure tip to spend more time flexed, allowing for higher curvatures. There also seems to be problems with tracker accuracy, the problem may be that the goal is captured from a single tracker reading, which may have error, next step is to average a short window of time for the goal position from multiple tracker positions. Data is saved in firstNeedleAttempts directory. Coming soon, trajectory following.
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Made a class that generates a dummy straight trajectory. List of tuples (time, point).
Also wrote the trajectory following code. Seems to be working EXCEPT the timer is like cpu time or something rather than true time. Fixing this next.
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Fixed the timer, needed cpu_times.wall rather than .system or .user.
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