Team Members and their Contributions
Martin:
Martin's computer was the server we used for our tests. He implemented the main thread of the listen function, which became ecouter and was tweaked slightly to accomodate for changes (both in our robot and in the communication protocol). He also coded the new_search function, and helped create its predecessor.Finally, he was responsible for the use of the magnetic compass, creating the forward_plus and turn functions (two of the most-used functions in all tasks, primoridal for anything the robot does), sending messages during movement and keeping track of movement for the return home.
Fabien:
Fabien coded the ball-searching functions for every possible configuration: there is a function for predefined positions for the large arena and the small one. He also implemented the first grid search, which was then changed with the help of Diane.He also coded the first version of the catch function, on which the current one is based. He then worked on debugging with the whole team, working for example with Diane on calculating speed/power ratio. Finally, he is responsible for all the cool sound effects which the robot can do.
Mehdi:
Mehdi worked with Martin on the robot's first steps at communication. Together they also coded and tested the special "forward" and "turn" functions, that allow the robot to keep a track record of its movement (using the magnetic compass; very important for message sending and to return home with the ball). He made the final version of the "forward_plus" function, to make it coherent with what's in messages. Another contribution was the initial search function, using discontinuities in ultra sound values to find the ball; it was not used in the end because of troubles finding balls that are either too far or too close to the wall.
Diane:
Diane was the constructor of the robot (with help, for version 1.0 from friend Achille, after whom the robot was named). She first created a four-wheel robot, then a three-wheel, then a two-wheel: changing it each time to compensate for poor turning and problems with balance (which disturbed the ultrasound sensor). She then worked on the algorithmic side of things, defining the "long_search" function for grid-like searching, which was then coded by Fabien, and worked on debugging the robot's code and structural problems. She is also the webmaster.