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10 cool 100 u week 3

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by

Darin Gray

on 21 July 2015

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Transcript of 10 cool 100 u week 3

Video
THANKS FOR WATCHING
Roles
Michelle -
Vex

Rahul -
Arduino Redbot

Kevin -
iRobot

Paola -
Scribbler

Andrew -
Vex IQ
MAIN PURPOSES
Follow
iRobot
to home base
Draw a path back from survivor to command center.
BASIC INFORMATION
S2 GUI
Pictures
Sensors:
- Light (3)
- Obstacle/Crash
- Infrared
Controllers:
- Speed
- Direction
- Time
Vex Robot
WORK PLAN
Light sensors (-)
Obstacle sensors (+)
Obstacle and Light sensors (1/2)
Crash(stall) sensor (-)
- STOP + FUNTION
Failure (27) attempts
Light sensors and flash light (+)
SUCCESSES
OBSTACLES

After we decided that light sensors were the best option if we wanted to follow the iRobot without any complication. Everything went well in practice.

Every program that I compute had something wrong.
This week I worked on assembling the Vex Robot. The requirements for this robots were to use the VEX robot kit and the program Easy C to create a machine that could remove debris from an entrance. The robot was supposed to have an arm and fingers that could grasp onto the object and then clear it from the path.
Building the Robot
Building the robot was difficult at first, but got easier as I began to figure out how to assemble it so it was sturdy and functional.
I had primarily worked on the bridge during the previous week, so it took some time to orient myself with the functions of the robot
The Vex kit consisted primarily of gears, metal, wheels, screws, metal rods, and motors.
The first step was to create an arm the could be lowered by a motor. To achieve this, I placed two gears side by side and mounted on gear stationary and connected the other to the motor. By doing this, when the motor was turned on, the arm would move.
I then installed a system of four gears. When one gear is attached to the motor, the two outside gears can spin inward or outward, thus allowing me to attach two fingers that will come together or apart. The movement of the gears is shown in this video.
Original Design:
Originally I designed my robot so that the claw would be attached to one side. I realized that this design was flawed because that would mean too much weight would be on the right side of the robot and it would tip over sideways.
After centering the claw I attached a piece of metal to each of the outside gears as fingers to grasp the object.
metal cutting courtesy of Rahul!
At this point the robot could lower the arm and open and close its fingers.
The robot worked with the remote control, but it could not handle the weight of a brick.
"It could carry a pencil?"
At this point the robot acquired the name "Jay" and was loved by other groups as well.
I then programed Jay using Easy C. In this program you wrote a code for what you wanted each of the motors to do and for what duration of time.
At this point, when I turned the robot on, It would move forward, lower the arm, and then grasp the object.
Unfortunately even a shoe was too much for Jay..
Mr. Gray then kindly allowed us to change our debris from a brick to a tupperware full of buttons...
...in case this happens.
Final Product:

10 Cool 100 YOU
week 3
Grump.c
We all started by opening a file on our programmers notepad, called bump.c
The code in bump.c contained the basic elements we needed to write our search program
Unfortunately none of us really knew what we were doing
How to computer????????
?????????
¿¿¿¿¿¿¿¿
¿?¿?¿?¿?

Figured out what parts of the code did what with the roomba and adjusted or added values as desired (turning, speed, etc.)
Added a home function for the roomba that allows it to go home
UUUGHH DONE FINALLY JEEZ
Finally, after we finished, there remained the issue of getting the scribbler to follow the roomba.
We solved this problem by taping a flashlight to the top of the roomba. Engineering at its finest.
Arduino Robot
Vex IQ
Here are photos of the robot:
iRobot
iRobot
The purpose of the program is to make the robot carry a bottle of water and get to the survivor by following the black line the scribbler makes.
When the robot reaches the survivor, the survivor hits the bumper and grabs the water.
Afterward, the robot waits for a few seconds, turns around, and follows the black line back.
Programming:
The iRobot Programmers all banded together and tried to figure out how to computer
With the help many of the people from the other groups, we figured out a program that would search for survivors and then return.
The program works by having the robot bump into walls and then changing it's travel angle when it detects the said bump.
When it reaches the survivor the survivor should press a button on the robot (but not the off button) and the roomba will return home.
Programming

The robot still has some issues, such as driving completely straight and acting the same way each time
The TAs helped out ALOT(especially Collin and Jeremy)
Obstacles:
Principles:
This week we used mechanical engineering and computer science to build robots that would preform a series of functions in an emergency situation
.
computer science: programming the robots to perform certain functions.
mechanical engineering: building robots
*we also used out knowledge on VEX robots and the Arduino from the previous week*
Plan: Our plan was to split up and each work on one of the five robots we were assigned to build. Although we worked primarily individually, we often helped each other if we were struggling, making it truly a group effort.
Lessons Learned:
Try to keep code as simple as possible becaus it is useful when debugging later
Vex IQ:
Final:
How we would have started differently
Draw out a design/ plan before building or writing software
Components:
Arduino
3 Line Sensors
2 Bumper Sensors
Accelerometer
Buzzer
Motors & Wheels
Materials necessary for structure
Jumper Wires

Function of REDBOT
Use line sensor to direct people to nearest exit during disaster
Move around objects in the way of the line
Make noise and stop occassionally for people to catch up
Day 1 - Mostly Hardware
Used Manual to build robot
Got used to the Arduino IDE
Learned functions of sensors
Started controlling motors and sensors
Learned basic commands in C++
Day 2 - Line Follower/Bumper Sensors
Programmed Arduino to follow line successfully
Initial code was very complicated... ended up starting from scratch
More efficient to write code separately then bring it all together
Also started working on driving commands for the bumper sensor
Day 3
Finished noise making system
Created pathway from the Redbot's starting location to the exit
Finished up the bumper sensor code
Ran multiple tests with the line follower... and it was successful!
Once the bumper code was added to the line code it worked 30% of the time
Successes and Obstacles
Some isses I ran into when testing...
Success :)
Robot followed the line from start to finish
The noise maker worked
The bumper worked a few times
Obstacles :(
Time Constraint
Motors not moving at the same speed
Coding for the many scenarios that coud have taken place
Full transcript