# Final Problems

We couldn’t manage to move the robot with the motor driver we ordered.
Also eyeball is too heavy to move.

Next week I will get help from other engineer friends. At least I managed to stick the eyeball gel coat on the mechanism.

# Final Changes

This is how my mechanical part looks like:

I did the coding part with JMyron Library in Processing. My code contrasts the previous and current image to find blops and puts points on that blops’ x and y’s. After that it gets the average points to create an iris. For creating boundaries for the eyeball, I compare the distance between the iris’s x and y’s and the big white eyeball’s.

double dis(float x1, float x2, float y1 , float y2)
{
return Math.sqrt((x2-x1)*(x2-x1) + (y2-y1)*(y2-y1));
}

I got Sina’s help to smooth the movement.

if( dis(objx,320,objy,240) > 140 )

{
xPos = xPos*0.9 + 320*0.1;
yPos = yPos*0.9 + 240*0.1;
}

I will map this 2D movement to 3D environment. After that, the code is done.

Then, I will put the gel coat on the mechanical part.
But first I have to shorten it, so I did. Now it is much lighter.
Since we had some troubles about the hand made motor drivers, we ordered them they will arrive tomorrow.
This is one funny photograph while we were measuring the part which will be cut:

# Back to the start

I cannot work with Kemal Abi anymore. I went to the studio on Thursday he said he was too busy and he told me to come on Friday. I went there on Friday, and he said they were going to go to a factory with M. Bishop’s class. So I had to wait whole weekend because he had to lock the doors. I went there Monday morning. But I couldn’t guess that the plaster would become so hard during those days. And when Kemal Abi started to put out the plaster, the eyeball broke into the pieces.

And I told him to do it all over again. But he didn’t accept he believed that we could repair it.

Then I spend my hours cleaning it. But the result was a disaster. It looked so bad. So from now on I quit trusting Kemal Abi, and I won’t work with him.

My father’s friend said he can help me. I went there to talk him. I can work with his workers and machines at the weekend.