In the fourth week I designed the fourth pattern for a string of LEDs around a robot. The pattern is called "Linear Single", which means that the robot is moving linearly and that the LEDs are producing a single gaussian wave to indicate the robot's direction of movement. The design is achieved by taking the parameters of a direction outputted by a game controller and determining the relative LED that indicates the direction.
Other than designing the pattern. I added a "publisher/subscriber" relationship to the "topic" of the direction of the robot's movement. This allows the robot's movement, hence the LED pattern, to be controlled by commands inside the Graphic User Interface(GUI) rather than the game controller.
Eventually, a command inside the RViz (a GUI) called "2D Nav Goal" is able to give instructions to the robot and the LED pattern can be determined accordingly.
As promised in last week's log, I have a cool picture this week. With my mechanical engineer friend from the lab, I visited the cutting of foam sheet using a laser cutter.
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