As predicted this week was not productive as I needed to focus on moving. However, there is progress and updates I am able to talk about. The first is that I was able to develop a responsive keyboard controller. This was an important step because it will allow me to test many more aspects of the motion and positioning algorithms. My hypothesis from last week about the keyboard input being a separate type was correct, so I converted the variable to a string which I could use to make my if loop assignments. For base testing this is effective, however for broader use, the robot will be using controls from ROS. My focus moving forward is developing a script that explores the bounds of the servos and sets them to neutral angles, which are the servo angles that make the base standing position, as well as other static positions. It will then ask for user inputs that confirm or alter the neutral angles as well as checking the scaling motion algorithms.
Academic classes begin for on September second. I will be working leading up to that point and likely beyond. However, I do not know whether this project will be fully completed before then. If it is not, it will likely be completed soon into the semester. When I say completed I mean a basic responsive robot, I believe that improvements that are available can and should be made as they can be moving forward to increase its robustness.