Hi all,

I've had some people ask some questions about assignment 2 this year. Here are the answers so that everyone is on the same page:

• Goals: will they be there or not? I have no strong opinion either way. I'm leaning towards them being there, but if that causes a problem for someone's localisation then I'll reconsider. I would like it consistant - I don't want to be taking them on and off the field for each team's run.
• Beacons: Let's have them in the same positions as assignment 1. You are allowed to use your solution to assignment 1 in assignment 2, so you should have reasonable localisation.
• Usage of functions: In previous years the early assignments already had you implementing ball tracking and grabbing, so I didn't allow use of the built-in code. This year I'm happy for you to re-use the grab. I'd prefer if you implemented your own ball tracking (but look at the code that is there). I'm happy to talk about this in the review lecture tomorrow.
• Start location: I'll start you pointing across the centre-line. It will not be to far from the centre line. I don't start timing until you cross the centre line (unless your robot seems to be completely confused, in which case I'll ask you to re-start it).
• Stopping criterion: I'll stop timing when the ball crosses the centre-line even it if then proceeds to go out. I've had close calls before - It matters if the ball goes out just before or just after it crosses the centre line.

Will