Programming Log

8/13

Started down ramp, found and fixed motor sync that wouldn't go right direction, figured out bluetooth connection problem, figured out mass compile problem, calculus based program code written

8/14

Worked on alignment with ramp, added in "jiggles" for increased accuracy in alignment, added "jerks" for getting into crater, troubled shooting of arm "twitch" bug, calculus based program debugged

8/15

Added in slow alignment to crater, multiple rebuilds of spear on arm, gyro, compass and acceleration/tilt sensors tested

8/16 Water loops perfected, backing out of crater, code for sompass sensor turn alignment started

8/17 Helium elements in #7 square turn on compass sensor programmed

8/18 More turns on compass sensor added, code combining calculus based code with the gyro sensor to accurately calculate turns started,

8/19 Added in the ultra sonic sensor and worked on coding the ultra sonic sensor for accurate position to element retrieval. The increased weight of the ultrasonic sensor prevented the robot from exiting the craters, so the counterweight bricks on the "front" of the robot had to be decreased to compensate.

8/20 - 8/22 Incorporation of the ultrasonic sensor into the program and increasing the accuracy of the gryo sensor calculus based code. Program perfection.