Harvest time!

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Transcript

Before Completion

Harvest time! From: Lisa Suemura <l.suemura@bio.avalon> CC: T. Quinn <t.quinn@elec.avalon>

It’s hard to believe, but our first full-size kelp beds are almost ready for harvesting and processing! Derrick’s been working on the mechanics of the harvester so we’re at a good place now to start designing the control system. We’re close to the culmination of the Ocean’s Bounty program! Soon we’ll be feeding the entire population of Avalon City with a delicious cornucopia of foods we created entirely on our own. I’m really excited! Lisa Suemura, PhD, FRSB Director, Ocean’s Bounty Program Avalon City

After Completion

Re: Harvest time! From: 孙昊天 <sun@avalon.avalon>

All, Please join me in warmly congratulating Dr. Suemura and her team for the success of the Ocean’s Bounty program, which has essentially solved the issue of food production for the entirety of Avalon City. Additionally, the technologies developed for this program will make a lasting beneficial impact on all of humanity, so this is a big win not only for our independence, but for the future of the planet as well. Sun Haotian President, Avalon City

	Re: Harvest time! From: Derrick Paul <d.paul@mech.avalon>
A message from Sun himself, that’s amazing! Congratulations Lisa! So… what’s next after revolutionizing how the world makes food?

	Re: Harvest time! From: Lisa Suemura <l.suemura@bio.avalon>
Thanks Derrick. It was a group effort, of course! To be honest I thought about taking some time off, but Enzo is already pulling me onto another project. No rest for me.

	Re: Harvest time! From: Derrick Paul <d.paul@mech.avalon>
Well if you need any robotics, you know where to find me!

Description

radio-rx is a non-blocking XBus input connected to a radio receiver. motor-x and motor-y are simple outputs connected to an omnidirectional motor. harvest is a simple output connected to a kelp harvesting apparatus. The harvester begins at grid location (0, 0). Locations to harvest are received over the radio as (X, Y) coordinates. If at least one unharvested location remains, move toward the oldest location, activating the harvest signal when the harvester is over any location. Setting motor-x or motor-y to 100 for 1 time unit will move the harvester in the +X or +Y direction, respectively. Setting a motor to 50 will cause it to not move in that direction. Setting a motor to 0 will move it in the opposite direction. Since the harvester can move in both the X and Y axes simultaneously, diagonal moves should be made whenever possible to take the shortest path. The harvester will never receive a command to harvest its starting location. There will never be more than 6 pending harvest locations.