Since our last update, a lot has happened. We decided and implemented a chassis made of 25x25 VEX Rails. The chassis housed our DFRobot Romeo V2 microcontroller, VEX servo motors, Adafruit BNO055 Absolute Orientation Sensor, Actuonix linear actuator, and VEX Ultrasonic Range Finders. We were able to get the robot to move in the serpentine pattern along the instantiated coordinate grid as we had desired, with the robot also being able to detect obstacles in its path. However, we faced unexpected challenges with the spray paint dispensing system that we had designed. The linear actuator that we had chosen for this project, in conjunction with how we had set up the paint dispensing system, was not very successful in actually spraying the paint. At times, the torque of the motor was not enough to press on the nozzle and dispense the spray paint. Other times, if the paint was being sprayed, the spray was too weak and lessened the quality of the image. As a result, we decided to alter our coloring/painting system for this project. We decided to mount the linear actuator to the chassis in a way that it was now perpendicular to the surface being painted and attached a marker as an extension of the linear actuator. We decided to "paint" the surface by lowering the linear actuator and making small dots with the marker as opposed to larger scale dots that would have been created by the spray paint. We did this to have a placeholder that takes the same amount of time to paint as the spray paint would have when testing our robot's traversal times.

Ultimately, we found that we were relatively successful in terms of achieving our goal of developing a robot that can autonomously take an input image and paint it onto a horizontal surface on a larger scale using coordinate-based movements. We were able to get most of our subsystems working individually, and trouble occurred when integrating some of them. We hope that future iterations of this project can develop a more accurate and consistent paint dispensing system that utilizes spray paint as we had intended. 

Attached below are images that visualize the image processing and images of the robot chassis: