Motor control looping and threading working, now all we have to do is incorporate vision
update
Billy arm sizes adjusted
Motor encoder checks adjusted
Arduino switch works
Timestamp added to recognised cups and makeDecisions file added
Implemented normalised velocities, some other cool small things done too :-)
Working on the coordination alignment.
Upgraded to air coil with pipe valve & need to find a U-Bend to the final connection.
Software:
Included the Vacuum Switch in the Arduino folder.
In runNXT.py the following function were created / included:
	The Arduino switch_vacuum
	Ability to play sound
	transformWorldToBilly coordinate frames
	The ability to take an input menu, sort them according to urgent orders and print the corresponding orders.
Also squashed a bug that didn't like the Z movement being a multiple of 30.
Included the motor.py file (in the top level fling system) needed for the correct functioning of the Lego Motors. Path for the file needing to be replaced can be found at the end of the READme.

Mechanical:
New and final connection of the pump as well as Aralditing the vacuum tube. The tubing has also been trimmed to the correct length around Billy's leg.
Incorporated clustering and data assimilation into cup model.  Highly accurate result but could be issues with more than 3 cups due to occlusion
Created function to return the most appropriate cup of a given type and where it will be within tAhead seconds
Successfully picked up and returned a single (multiple times)
Working like a charm.
Added a class to play sound.

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Must run [pip install pyaudio]
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Final copy. Changed timings.
Merge branch 'master' of https://github.com/RyanCMitchell/METR4202_Billy_Mach2