Today, we began with working the figure 8 task (after taking some beautiful photos for the website team page).
After trying to figure out why the robot wasn't turning, we saw that the sticks that I put between the motors to increase the rigidity of the underbelly prevented the motors from turning opposite ways which was how the robot turned. See the sticks connecting the motors up top? Yeah, not a good idea.
After removing the sticks, the sturdiness of the underbelly was compromised, but for the sake of progress, we'll focus on the figure 8 first. Next, Daedalus was having issues differentiating left from right; it could move forward, but it turned left when it was suppose to turn right. After some fiddling with the code and a lot of busy text files, Daedalus was able complete the figure 8 trial. Behold!
As you can see, the robot is seriously off alignment throughout the whole run. Hopefully soon, Samm will be able to get a hold of the sample code to allow Daedalus to self-correct its positioning and movement.
Afterward, Randy and I used the new logic for Daedalus since Monday to test some potential problem boards. We ran into a few issues, but many of them were because of either impossible boards or very evil boards that Daedalus wouldn't have to face; other than those, the logic seems fairly sound. I came up with a process of elimination formula for Daedalus to cover some other potential boards. The new, current logic can be seen below.
For next week, the logic should be done and Samm can start integrating it and the movement correction into Daedalus. Daedalus' trial will be held Thursday night at 7:00 pm. Get your popcorn and sodas ready.