Things are going in the right direction, but each completed part reveals unforeseen problems.


If moves, yes, but the latency of the Linux OS is just horrible, and it slows down the communications by a factor up to 100... hence the shaky movements. I will put the problem under the rug by just configuring the servos so that they don't send a response to write operations.


Driving... slowly. But it has potential to be up to 50 times quicker. Haven't tried it yet. Before that, the PID coefficients of the motor control need fine tuning.

Half-broken obstacle avoidance

Avoiding obstacles using only the Neato LDS. All thresholds and weights in the computation needs tuning too. The algorithms have lots of room for improvement too (I already have a better behavior than what can be seen here).

A really big problem right now is that the legs tend to spread when moving around. To correct this, I would need to ask the servos their positions, compute the actual position of the tip of the leg, and use this information to correct it with a PID controller... I'm not sure I can code and test it in the remaining time before the competition. At least not if I want to code all the other perfectly necessary things the robot still misses, like interpretation of what the images returned by the camera.

We'll see. Three days to go.