Resubmission Change Order

  • Assignment: [e.g., Assignment 2]
  • Date: YYYY-MM-DD
  • Student Name: [Your Name]
  • Original Submission Date: YYYY-MM-DD

1. Failure Analysis (The "Why")

Provide a technical explanation of why the previous submission failed to meet the requirements. Focus on the root cause, not just the symptoms.

Example: The robot failed to maintain a constant distance from the wall because the Proportional gain ($K_p$) was too high, causing undamped oscillations. Additionally, the ultrasonic sensor was being polled faster than its hardware refresh rate, leading to stale data.

Root Cause:

  • Logic Error
  • Hardware Configuration
  • Parameter Tuning
  • Environmental/Noise Issues

2. Implementation Delta (The "What")

List the specific changes made to the code or hardware. If code-based, reference specific functions or files.

  • Modified pid_controller.py: Reduced K_p from 1.5 to 0.8 and introduced a 10ms sleep to match sensor frequency.
  • Hardware: Re-mounted the sensor 5cm higher to avoid ground reflections.
  • Git Diff: [Link to Pull Request or Commit Hash]

3. Performance Verification (The "Proof")

How do you know it works now? Provide quantitative data or a link to a demonstration.

  • Data/Logs: Attached telemetry_v2.csv showing the error margin dropped from 15cm to 2cm.
  • Video Proof: [Link to video]
  • Success Criteria: The robot successfully completed 3 full laps without colliding with the wall.