This week, I was able to test and update some of the color functionality. One of the band-aid solutions I had used for the stroke creation algorithm was to not draw any strokes longer than length 30. The contour finding function of the CV library in python was returning a list with the parts of the contour in different orders. So it would draw part of the outline of an object, and then jump to another location on the edge of object to draw another part of the outline. This would cause the entire object to have extraneous lines drawn in the middle. I fixed the code so that it would treat each part of the outline as a different stroke. This means that it no longer draws the connecting lines between the outline. I also fixed some color issues and made slight improvements to the weight of the color picking algorithm. Furthermore, I worked with Chris and Eric to come up with solutions to making the gantry work more smoothly.
This week, I was on schedule. I have made the software algorithm robust to extraneous lines, and the color picking much better, which were the optimizations that I had planned to do.
For the in-lab demo day on Wednesday, our goal is to get the robot to a near-final state, which means that I will be working on making sure that the physical system is doing what the software actually tells it to do. If there are any changes that need to be made to the software to make the drawing more accurate and fast (such as skipping a few points on the contour when making the outline, to make it faster), I will be in charge of that.