Congratulations, my guys, on making it this far.
We are right at the end now.
We will be defining the problem of good to go given all the information we have.
This includes the robot pool location and orientation and the shortest path to the goal.
Now, because the park was computed using the grid based search algorithm, we have the mini goal as
configuration, which tells us about the goal location and the goal orientation, which the robot will
need to achieve one by one using this method.
The ultimate task of math solving will come down to it creatively reaching all these mini goals.
Now let's look at an algorithm that serves the exact purpose.
Here we start over writing an infinite loop.
Then we compute the error between the robot orientation and the desired orientation.
Now, because we have a differential drive board, it cannot make larger turns.
So if the error is large, we bring it down to moveable limits.
So if the egg was below the threshold, we move the car forward.
Starting is speed proportional to its distance to the goal.
So if the car is four, it moves fast and then slows down as it approaches the goal.
And then finally, the car, which is a last minute goal, you stop the car.
Otherwise, we activate the next minute goal.