Today, after some fine tests, calibration and fine tuning on Maria, we got the conclusion that will be hard to have the PS3 camera to capture all the image projected, therefore we should leave a margin around the working area, because even with a full project image, we can't capture with precision the touch inside that margin.
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But most time and work were spent changing the Chasso Robot. With the initial tests done today we came to the conclusion that with the wi-fi camera and it's battery on top of the robot created several problems:
- The weight is too much on front, most of the times when Chasso goes up to turn, it created a balance that made the robot touch the ground and therefore not turning the degrees we wanted;
- The weight is too much for the rear axis. The axis folds with it, affecting the direction;
- Because of the weight, if the robot goes up and turns more than 90 degrees it becomes very unstable and touches the ground;
- Also because of the weight the base doesn't hold to ground as easily and it becomes slippery, so the turns are not done with the desired turn degrees.
- We changed the position of the wi-fi camera. We had to put it a little bit more to the rear;
- The compass was also sent to the back, because of all the motors weight, Chasso was bending forward, so we need to shift more weight to the back;
- We took the rear bumper off, was well as the wi-fi battery compartment that we previously assembled to loose some more weight;
- We put 2 elastics on the base so that we could have more adherence to the floor;
- We managed to get the rear axis more to the back. This way we could put an axis piece that goes from one wheel to the other and a support for helping not to bend. This helps the Chasso to move forward with less deviation of the planned direction;
- The battery of the wi-camera has to be transported on the back, otherwise, sometimes Chasso will bend forward when he goes up (but this had to be retested with the final battery, because that one has not arrived we had to used a mockup one);
- And the final and more dramatic change, we added the color sensor. To do this, we had to prescind of one of the touch sensors (the left bumper one), because the Lego NXT brick only has 4 entrances for sensors (ultrasonic, right bumper, compass and now color). We also changed the color of one of the base pieces, for an orange one. With this we can can know if the base is on the correct position to go up and do the turn, or if we need to turn the base to the correct position before going up.
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