This saturday we got together to do tests on the functionalities we've been working during the week.
Maria
- We ran some tests with a different computer, with an I7 processor with Windows 7 and 64 bits. Everything went well and we manage to easily install the multitouch driver. We have now to wait for a license from Luxand (FaceRecognition SDK), so that we can test all project on this computer and check if there is a performance improve.
- We did some small adaptations to the application layout.
- We tested the "home" function we had developed during the week for the Chasso robot. We had to made some adaptions, because we were calculating the angle between the (x1,y1) and (x2,y2), but we were forgetting to calculate the value back from the trigonometric circumference to the heading circumference. We also confirmed what we suspected, that small changes on the compass readings influce that time and angle calculated for returning to the home position, but, we can't consider the results to be bad.
Chasso
- To test if the readings of the heading from the compass weren't so affected by the concrete walls and to confirm that the drawing on the map was correct (according to heading and distance) we went to do some tests outside, on the backyard. The map drawing function worked has expected, but again, we found some problems. The bright sun light outside was too much for the color sensor of the Lego NXT, so, after turning to a defined heading the base of the Chasso couldn't be stopped on the correct position as it was expected. We then did some more experiences to overcome the problem:
- We tried putting a black bag on top of the Chasso robot, but it affected the Bluetooth communication.
- We put a black thick paper around the color sensor and then slowed the turning speed to 10% of motor power. Only after this to changes we found some good results, but even so, we continue to have some problems in direct sunlight, within some lateral degree of incidence.
- We also did some tests on the "Face lock" function on Chasso, and that proved to work completely at first time. Even with more than one face at the same time on image, the Chasso camera follows the correct person.
