This week was very intense for us in the Mechatronics and Controls lab. Although we were successful at having the Arduino communicate with the ArbotiX and the computer using software serial, we noticed that the calculation of the objects’ location was incorrect. We then started brainstorming ways to trouble shoot our problem. First, we checked the coordinates that the computer was sending to the Arduino, next we checked the algorithm by which the distance was being calculated and finally we looked at the information the ArbotiX was sending to the Arduino. After elaborate testing we believe that one or both of the cameras we are using for Caesar’s eyes are not situated on the plastic platform perfectly radiantly. We think that might account for the discrepancy that we are seeing with our location readings. We did some preliminary testing and then determined that there is about a 4 degree difference. We are going to use our final week to figure out a way of getting a more accurate reading.