For my project, I decided to go for the Aesthetic challenge, since it seemed the most doable with what I had on hand. I decided on basing the code and design around a penguin, because it challenges the programmer since the motors then have to work in different ways, to simulate a penguin walking. I started out with the robot and started coding it with the waddling aspect first, and i set it up so every time one motor went, it would run for 200 milliseconds then stop, then the other motor would run for the same amount of time and stop as well, repeating until it ran into a wall, in which it would sense the wall, stop for five seconds to simulate a penguin huddling, then go backwards then turn right and continue waddling. For the penguin on top, I looked up images of a penguin cut out, printed it, then cut it out and taped it together. There were some issues with my original code as well, originally i had it waddle at a 100 millisecond interval, which was more of a stutter so i had to extend the delay time, i changed up how the speed was found and i also added a lot more comments then i originally had, I only really specified what each segment was, not what each thing did. The whole process took about 2 weeks to build the robot since I could only get access to the correct tools at the studios, but the coding didn't take that long, I was able to get it done in one day. https://media.oregonstate.edu/media/t/1_io63i84g https://media.oregonstate.edu/media/t/1_5isyouda https://media.oregonstate.edu/media/t/1_77zxowkq https://media.oregonstate.edu/media/t/1_r77xtas3