For the week of July 24th, I continued to work on the DDSA implementation as much as it needed to be fixed and revised. Additionally, some improvements to the base code were made and incrementally merged in- issues due to the merges were fixed each time they were identified, before moving on with the implementation.
The math described in the paper was sufficient for the rovers if the dimensions of the rover were accounted for in terms of 'g' (the gap between lanes in the spiral)- there were no terms to add or other factors to multiply in besides the modified gap, based on the length of the diagonal of the rover plus a small gap defining the closer blind spot of the rover (each of those terms had to be measured from the simulation, because our physical rovers were not fully assembled at the time). However, we did have to adjust the spiral pattern as a whole to account for our non-point center dropoff zone. A small term is added to the first circuit and the "north" and "east" portion of the second circuit in order to offset the overall spiral from the center, since we do not want rovers driving through it.
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AuthorKelsey Geiger: a maker, learner, teacher, and doer. Proud to be out and proud of her work. Archives
August 2017
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