March 14th

Folks,

As you all may recall, during the last session, we had some network issues. I had a quick talk with Dr. Heynes, and, with Matt's help, confirmed that this is a show stopper only on Ubuntu, and the general work around for the problem is to use another command for network synchronization. The details can be found right before the task lists at the lab instruction page:
https://ese313upenn.wikidot.com/laboratory:proprioceptive-sensing-and-locomotion

For this lab, to speed up the progress and avoid stealing more of your final project time, we will focus on only the first 6 tasks. But, I want all the groups to follow the actual task lists and show me their progress step by step instead of jumping to 3rd and 6th steps. I would like you to use some of class time on Tuesday and on Thursday to finish these tasks. The robots will be available at the Ketterer Lab for both days.

The modified competition setup for this lab will still consist of two phases. The first phase is essentially the same as the competition for Lab 1. This time the path length you need to traverse will be much longer and you are expected to use your IMU regulation to accomplish this. The drifting behavior of the IMU is much weaker on Junior3, we will be using Junior3 for this first phase.

The second phase is a simple modification to task 7. Desired behavior consists of 4 stages:
1- Robot starts at a predetermined position heading the wall. With the start command it runs towards the wall.
2- As it hits the wall, it detects it, stops, and takes a step or two back.
3- The robot starts turning in place at the predetermined direction for around 90 degrees.
4- The robot runs to the finish line.
The whole procedure will be timed and the group having the best time will be the winners.

For both competitions, this time, I will assign half an hour slots for each group during the regular class time. You have half an hour to get prepared, have a few test runs, and the final two trials. You are welcome to attend other groups' half an hour slots but you do not have any obligation.

The schedule is as follows:
March 22nd - Dynamics of Steering Competition Phase
1:30pm-2:00pm: Group 1
2:00pm-2:30pm: Group 2
2:30pm-3:00pm: Group 3

March 24th - Proprioceptive Sensing and Locomotion Competition Phase
1:30pm-2:00pm: Group 1
2:00pm-2:30pm: Group 2
2:30pm-3:00pm: Group 3