my day was spent entirely on programming two things:
the controls - i (codex) spent a bunch of time setting up:

• the tank controls to individually drive each motor
• making the motor channels and configuration set in environment variables, and making a shell script that loads those environment variables from a shell script, enters the py venv, and runs the program
• adding different modes/states to the program and a radial menu to switch between them (all in a TUI by the way)
• adding a throttle limit and button presses to change it on the fly
• adding a button to start driving and making it so that every unrecognized button press stops it as a safety measure
  it wasnt alllll codex tho, i came up with the all ideas for these and usually gave rather specific details for how i wanted them implemented

i also worked on the ball detection, which mostly involved sitting down and just adjusting parameters until the detection was like maybe almost passable, adding (asking codex to) add new parameters when the existing ones didn’t encompass the mistaks the detector was making. needless to say this lowk took a while but we’re in a good place rn i think!!! we have a moving robot with some kinda maybe working ball detection, which is like half of the first phase (the easiest part). so were slightly cooked but still yay it works!!