Week 10

Integrating the Tera ranger code and the avoidance system together wasn't easy as well. It requires careful calibration for the motor to spin at a different speed. We continued testing and editing the code, increasing the delays as well as reducing the delays all in the hopes that the arduino will stop hanging. Increasing the delay too much will cause the arduino to hang more and decreasing the delay will cause the arduino the hang equally fast as well. The perfect formula is to find the perfect center between the both in hopes that it does not hang. The old problem of the arduino hanging has occurred again as well. Detecting the motor speed can't be detected using mission planner since the pixhawk is no longer connected to the motors. Thus putting a tape on the motor shaft and using our own sense of touch to feel the difference in speed is the current way. Though it's not accurate we don't know the if the difference in speed is enough. Only way is to test is to have a test flight.

Research into improvements of the cutter system has also got under way. We have went to research on the various methods whereby plants can be cut. Below are some of the equipment gardeners use to maintain the conditions of their plants or crops.