This week, due to our change in plans from drone swarm to rover swarm, I worked on transitioning our preexisting software plans to land-based plans, as well as making the actual control flow diagram for the software.
I separated the logic into an initialization phase, a wandering phase, and a target found/convergence phase. I broke each of these down into different individual actions and communication steps that need to happen as well as writing out descriptions for each step. These descriptions will help us with abstraction so we can focus on coding one task at a time. Descriptions will also help when explaining the control loop to classmates during the design presentation.
A big part of this week was spent researching trade-offs between drones and rovers and hardware for each, eventually culminating in our decision to switch to rovers. Luckily, most of our communication protocols and algorithms were independent of the vehicles used, so we were able to keep most of what we already had planned.