I've attempted several times this week to test the new steering algorithm, but for some strange reason the GPS won't get a good fix. I don't know if this has to do with satellite positioning or what.

I modified the code for the OOPic and programmed in the brakes, although they aren't installed yet.

I got the replacement for the non-functioning shifting servo, but the replacement is the wrong part and has much less (and not enough) torque. How frustrating.

I installed LED brake lights on the back of the Expeditor.

I uploaded The Prodigies's application video sent to DARPA to craterfish.org/teamprodigies and added a link to download it on the site's links page.

I worked a lot over the weekend on a new steering algorithm that takes into account the minimum speed at which the wheels are capable of turning. The software simulation previously ignored this physical limitation, causing a weaving behavior in the autonomous driving. When I added this factor into the software, the simulated vehicle showed the same behaviour. With the new algorithm, however, it now drives straight on the planned route.

There are now seventy completed applications that have been sent to DARPA. Yesterday I reformatted the development computer (this one) because of viruses. This time I installed Windows 2000 proffesional instead of server. Yesterday I located a better location for the DARPA site visit, so I'm gonna send them an email about that. I also improved the chain tensioner.

Today is Monday, and the applications are due Friday. 195 teams have sent in parts 1 and 2 of the five application parts, and only eleven have sent in all five parts. We're one of them.

I sent in the rest of the application parts to DARPA.

I finished the video for the Grand Challenge application. Now I just need the site visit form.