The Turftank robot uses a series of "flags" to locate itself in space. Flag 1 is used as the origin point, while Flag 2 sets the direction of movement. The vector from Flag 1 to Flag 2 is only a guide for direction, so the user still inputs a line length. Other primitive geometries are placed in space in a similar manner. To draw a rectangle, for example, the user provides a Flag 1, Flag 2, rectangle width and rectangle height. The robot always turns "left" by default when drawing shapes.

The robot's painting arm is on its right side, approximately 41 cm from the centerline of the robot.

This distance between the robot's centroid and the painting arm is critical in cases of rotation. Working clockwise, the robot can theoretically draw a circle of any radius. When moving counter clockwise, the robot cannot draw a circle or arc smaller than 3 feet in radius.

The robot must align to each segment before it begins drawing. The robot will generate paths like those above when reaching the edges of a pattern. For this reason, it is important to leave a clear and open setback of at least 6 feet at the extents of any pattern. This area must be free of any vertical obstructions.

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The robot is capable of drawing complex curvature through its built-in PATH method. PATH points must be provided at increments of 0.1 along the curve.

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PATH geometries are limited by the radii along the curve. If the radii of the PATH segment is below the robot's CCW limits (discussed above), then the PATH must be broken down into small PATHs that the robot can draw in both CCW and CW.

Seen above are the segments of the larger PATH that have been broken down for drawing by the robot. Outpost Office has developed proprietary tools for this process.

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