This week, I did extensive research on how to integrate the ultrasonic sensors, i.e., read the outputs of sensors and integrate them into my code. After looking through multiple sources, I found that gpiozero is a library that is often used in programming to integrate ultrasonic sensors to raspberry pi. Therefore, I tried to write a draft of the obstacle detector logic using the outputs from ultrasonic sensors. Furthermore, I also participated in the ethical discussions during lecture with other groups and got some meaningful feedback about the potential ethical issues that could arise (e.g. robot collisions causing elderly to fall).
Overall, my progress is on schedule, as I stated in my schedule that this week is supposed to be ultrasonic sensor integration, which I was able to successfully inquire on.
By the end of next week, I hope to have the entire emergency stop logic done. This involves integrating this part of the logic to the state transitions we already had to let stop override in emergency situations.