The clock control gains we picked for the warmup and why we liked the result.

P_gain = 0.5

D_gain = -0.01

A negative D_gain caused the hands to never cease in their oscillation but maintained a sense of “dampening” (or the lack thereof) by steadily winding up more and more.

Brief description of our performance objectives and outcomes.

For this project, we decided to play with the idea of a push and pull between two objects, inspired by Taichi. Each actor here has two hands, one is the box, which they use to reach out to the other, and the other hand is the fan, which they use to push back. The box would naturally reach toward the other player, and when the box gets closer, the fan would turn quicker to “blow” the hand away.

Link to .zip folder: [insert link here]