Today, I worked on getting the PS2 controller connected to the robot. I had to first upload the code to the robot that allows it to be controlled by the PS2 controller. After this I then started testing it and realized only two of the controller functions were working. I tried re-uploading the code and even tried to change the code, but none of that worked. I then tried to use a different set of code the manufacturer had provided, but the battery to the robot died. Since the battery takes about 5-6 hours to charge, that was the end of connecting the controller for the day (thankfully because I was getting quite frustrated after trying to fix the controller problem for 4 hours).
After that, I helped Shihao with taking more measurements of the robot for the UDRF file. We divided the robot into rectangular sections in order to get accurate measurements for the file. I had the measure from the point of rotation for each motor to the center of mass of the rectangle the motor was in. I also made some slight adjustments in the CAD file of the hands to fix flaws in the original design. I had to widen the hand so it fit on the robot and thicken the part that connects to robot so it doesn’t break.