Back from a short, fun vacation

I REALLY need to update the online resume. Friday.

GOES

• Creating an Rwheel class that has all the main components that SimpleRwheels uses and then make it work for any number and orientation of wheels.
• Done, and it works really well! Here’s a pretty extreme maneuver (0-360 degrees for pitch, roll, and yaw):

• There is one more thing to figure out. At smaller steps, we get this odd artifact:

• Since it lines up perfectly with the normal calculations, it has to be related to that?

• Going to verify that it’s not in the reference frame first. Nope, they look good:

• 1:30 Meeting with Vadim
• 2:00 Status Meeting
• Back to math. Keeping the same normal is smoother, but causes it’s own problems:

• I think tomorrow I’ll try combining the best two in some way

Book

• Added a paragraph to the money section on how looser governance can occur based on Jane Goodall’s work discussed here