Roaming

Just a quick update. Bull-E has been fully wired with all the IRs and antennas in place. We finally got a chance to use a practice field, so we able to calibrate the antennas with the dog fence. Bull-E was able to roam around the field while remaining within the dog fence boundary. There were a few cases where the robot would reach a corner and would continuously turn left and right withoug leaving the corner. While the navigation code is reexamined to handle the fail cases, the rest of use are testing the acquistion arms and the sorting. The arms seem capable of acquiring all three types of containers, so we are now focused on the sorting. More updates to come...