Freewheels

Codebase for a Windows unival app that uses Pozyx for indoor positioning. Using Pozyx firmware version 1.1. Developed to support a self driving wheelchair

Overview

• Setup guide
  • Required hardware
  • Connecting the pozyx
  • Opening the application
  • Running the application
• Tips and tricks

Setup guide

Required hardware

• Windows machine to run the application on
  • We used a Raspberry pi v3 which runs Windows Iot
• Windows 10 machine with visual studio.
• Pozyx shield
• at least 3 Pozyx anchors, 4 are required for 3d positioning

Connecting the pozyx

• We have chosen to connect the Pozyx via I2C with our Raspberry.
  • Connect the (5v, ground, scl and sda) pins
• Pozyx should also be abled to connect via a serial connection. However we couldn't manage to get this functional

Opening the application

• Clone the project: $ git clone https://github.com/JorSanders/Cinnovate.git
• Open the project in visual studio: file > open > project/solution > (location where you cloned the project to) > click and open *

Running the application

• Connect the machine with visual studio(Your pc or laptop) to the same network as the machine connected to the pozyx(Rasperry Pi)
• In visual studio open your project properties and go to the debug tab.
  • Set platform to "Active (Arm)"
  • Set target device to "Remove machine"
  • Set the remote machine to the IP address
  • Set Authentication mode to "Universal (Unencrypted Protocol)

Tips and tricks

• Open a webbrowser and go to the ipaddress of your Windows Iot device and port 8080 example 192.168.0.2:8080 To access more settings and the files explorer of your device.
• Setting Pozyx.ConfigurationsRegisters.PosNumAnchors() seems to result in Pozyx always raising the error "POZYX_ERROR_NOT_ENOUGH_ANCHORS"
• Setting Pozyx.ConfigurationsRegisters.PosAlg() to tracking seems to set the algorithm to tracking although when requested it returns "UWB-only" is the set algorithm
• Our network didn't allow for a wifi connection to our Raspberry Pi. So we setup one of our laptops to host a hotspot and connected the Raspberry Pi to that network.
• Check the Pozyx Register Headers for additional info on the Pozyx library functions.
• Where to postion the anchors according to Pozyx, see here
• How to set UWB settings, see here
• Pozyx own performance tests, see here