Controlling PR2

Hello, everyone! Last week, my aim was to control a PR2 model in Unity with my iPhone. The model moved forward at a set pace and as directions ("N", "SW", etc.) were received from the phone, the model adjusted its rotation to match. See the video below for more details.

There are several problems with this approach. One is that there is no GPS data currently being sent from the iPhone to the server. The data that is currently being sent is heading (0-360 degrees), and the data from the phone's 3 accelerometers. Another problem is that the data is being sent to the server over WiFi, which is sometimes slow and unreliable. This is a problem because we aim to control the robot in real time, so lag or lost  commands could be very dangerous. The third problem is that the "commands" are currently determined by a certain amount of acceleration in any direction. There are no "gestures", merely a recognition when the phone accelerates above a certain threshold.

I hope to fix the first two issues for this week by sending more information (like GPS coordinates) to the server, and by using Bluetooth communication instead of WiFi. The third issue (gestures) will be a larger portion of the project, done over the coming weeks.