team 4 shane sunada – project leader malcolm menor – project manager nathan umeda – technical...
TRANSCRIPT
Team 4
Shane Sunada – Project Leader
Malcolm Menor – Project Manager
Nathan Umeda – Technical Supervisor
Joseph Longhi – Documentation
Final PresentationMay 9, 2008
To design and construct a robotic “mouse” that can successfully navigate to a central point of a randomized maze and return to the starting point with minimal collisions.
Overview
Hardware
Initial Goals- Robot base must be able to rotate
180 degrees in a 16cm x 16cm square- Robot base should be robust- Robot base should be light (no excessive material)- Robot should be easily disassembled - Robot should LOOK GOOD!
Alteration-Chassis and Sensor Layout
-Rear Sensors-Tire size
- Chassis lightening- Circuit element decisions
Problems-Thought our motors were bad when circuit was on Breadboard-Shorted RCM2000-Batteries/Power Drain-PCB-Heat Generated-Finding Right Value of Resistors for Sensors
Software
Initial Goals-Get it moving Straight
-Tracking-Get it to turn
-180-90
-Wall Hugger-Right-Left-Switching-Random
-Flood Fill-Track (x,y) position in maze-Flood Filling Functions
Straight/Tracking-Stop one wheel-Deciding which sensors to use-Use Costates-Reverse Code-Acceleration
Turning-Move both wheels in opposite
directions so turn in place-UTurn is just 2 turns
Wall Hugger-Slow down when no wall-Turn after no wall then wall-Started with just right wall hugging-Mod to left wall-Switching-Random Pulses
Flood Fill-Tried position with step count-Wrote other functions-Not able to get all function to sync
Problems
Straight/Tracking-If tried a smooth correction it didn’t correct fast enough
-Sensors to far apart-Trying to Find the Right speed to move the mouse-Sometimes tracked when we didn’t want to
-(Tracked into Wall)-Changed Sensors Used
Turning-Getting the values for turning-Sometimes one wheels locked
Wall Hugging-Getting Code to compile-Deciding When the mouse should turn
-Instead of using step counts sense when wall disappears and then reappears
-Turned when it shouldn’t or the wrong directions-Change what sensors were used to detect turn
ContinuedSwitching/Random
How to make it switchImplementing a Random FunctionAdded LED
Crashed into wallReset Feature
Flood Fill-How to write a flood fill code and what it is-How to avoid flood overflow
-Just don’t check outer walls-Keeping track of position in the maze
Recap Final Standing-Have Chassis using Stepper Motors and a PCB Motorboard-8 Sensors and 2 LED on a Adjustable Sensor Board-10 1.2 V Rechargeable Batteries-Left, Right, Switching, Random Wall Hugger, Drag Race switchable with 8 Dip Switches
Outstanding ProblemsWhat we would change
Power Drain/ Heat-More Voltage Regulators-Stepper Motors gave problems-Rechargeable Batteries-Add one more Switch
-Sensor Layout-Closer Sensors-More Sensors-PCB Sensor Boards
-Weight Reduction-Position
-Trying to keep track of position in maze
-Moving-S-Turns-Better Tracking
-Solving Algorithms-Getting Flood Fill to work-Find a better algorithm