Small Pool

Testing in the small pool (by our shop in Dana 4) was performed at (quite literally) all hours starting March 1 and ending before our last large pool day on May 6th. While we do not have specific logs for each test, the general structure was as follows (exact dates may vary):

March 1st - 7th, 2026

Summary:

• Watertight testing
• Rudimentary battery voltage and current draw testing
• Ethernet connection and ROS networking issue debugging

March 8th - 28th, 2026

Summary:

• Motor thrust allocation and controls validation
• Velocity PID tuning
• Some Position/Orientation PID tuning
• Teleoperated control validation and debugging
• Sensor validation, fusion, and transformation

March 29th - April 25th, 2026

Summary:

• Position/Orientation PID tuning
• Vision and camera validation
• ROS 2 image network debugging

April 26th - May 5th, 2026

Summary:

• Navigation code debugging
• Position and state logic debugging
• GPIO and disable switch code