1.) We've built a wall! Greg had a good idea involving caster wheels, 80/20 and plywood. We have to make our own since we can't mount to the walls in the Cantor Center.
2.) Figured out a control scheme for the robot, which adjusts motor speed to get the pen to move as desired (and not along curves of the belt radii).
3.) Prototyped different drawing mediums.
This photo shows the wall half-built (on left), and the robot drawing on paper with charcoal. It drew a lot of stars before I fixed a bug to get it to draw circles...
4.) Prototyped painting methods, including paint markers and a syphoning IV of purple tempera paint. A tube carried paint from the suspended bottle to a hollow paintbrush at the robot end-effector (pen position).
5.) Made the robot move in spirals! This was getting to be quite a challenge, but I'm really happy we figured it out...
This image shows more progress on the wall, and the robot's IV drip.
Next, we have to figure out the best way to deal with the paint - getting the right viscosity to get the paint moving, but not make a watery colorful mess. Else, we'll settle for the paint pen with an actuator to keep it against the wall. The wall needs to be sanded, and the motors and electronics will be transfered to it. Most importantly, there will be integration of the brain control code with the spiral drawings.
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