NXT-Spy – First diagram for the robot control algorithm

Here is the first diagram I have done to describe how the AI that will drive the robot will work.

By doing this diagram, I have also thought about a solution for a problem highlighted by Kevin, my second marker:
How to avoid the robot from chasing the balls it has already sorted from the balls that still needs to be sorted.
The solution I have found is to create a third flag that we will call “home” flag that will be placed at the robot’s starting position. Thanks to this flag, the robot will be able to go back to its initial position every time it has sorted a ball.

Supervisor’s comment:

The plan is very sensible and is realistic with respect to what has been done and what needs to be done.
The control algorithm also seems to capture what needs to be done.  I like the idea of the Home base and the way in which it can resolve problems with previously sorted balls.
I think a continuous 5 degree turn in one direction might be better replaced by a wiggle and this could provide a comparison of techniques which could be measured in the evaluation.
User interface to remember the hue and Saturation and Intensity intervals for the different object, balls and flags has been constructed and is really cool.  It has taken a lot of work because such interfaces always do!  The fact that it is a JCSP-awt application is even nicer!!  It might be worth a little aside in the report on this aspect  He also wrote an active swing slider control!!!

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