Loam

Problem

Soil labs are far from the plots where fertility decisions are made. Loam prototypes a field robot that stops at waypoints, probes substrate, and uploads structured readings so extension workers get same-day texture and moisture context.

What it covers

• Waypoint navigation across crop rows with obstacle stops
• Onboard soil moisture and EC sensing at probe depth
• Timestamped sample logs geotagged to field polygons
• Teleop override for operator recovery in uneven terrain

MissionState runWaypoint(const GeoPoint& target) {
  if (!driveToward(target, kMaxSpeedMps)) return MissionState::Blocked;
  if (distanceTo(target) > kArrivalRadiusM) return MissionState::Transit;
  const auto reading = soilProbe.capture();
  logger.append({target, reading, millis()});
  return MissionState::Logged;
}