Robot Blog

A blog to keep track of my honours project.

Jan 29

Before Now

I had my first proper meeting with Frank last Friday, and started programming on Monday. I was given the task of getting the eyes to move via schemas and to create a fovea which will also move within the field of vision.

On Monday, I managed to get the eye “field of vision” to rotate based on the appropriate schema being called. It took quite a while because I’m still getting used to the graphics engine. First I tried using the existing code, but that would just re-position the eyes and wouldn’t flow smoothly, so I ended up using the AddTorque function. Additionally, I managed to create a small wireframe box that would be used as the fovea later on.

On Tuesday, I spent WAY FREAKIN’ TOO LONG calculating my way into a hole because I COULD NOT work out how to get the fovea to rotate around the same origin as the “field of vision”. I tried calculating the co-ordinates using trig, pythag, one million diagrams, force/torque calculations, AddForce, SetPosition, AddTorque, lions, tigers, bears. OH my. In the end, I went into the graphics engine and created a new type of rectangle which has an origin at the correct place. This allows me just to use SetOrientation and not have to bother calculating anything myself.