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Marie Rottschaeferon 25 May 2013
Transcript of Prom Date
Katherine Debick Marie Rottschaefer
Ciaira Price Katherine Debick
Lauren Bono Amber Phillips
Ciaira Price Ciaira has been an active member of the KLCT. She has also taken part in an Engineering Application class at Kiski. After high school, Ciaira plans to attend the University of Pittsburgh majoring in Engineering. Katherine Debick Katherine is a junior. Her membership of the KLCT marks her first experience with Engineering Club. Katherine has experience with programming in Java and takes STEM courses at Kiski. She hopes to attend a university where she can major in software engineering upon graduation. Timeline of Events Planning! 1/3/12 3/26/13 Brainstorming! Finishing Details! 2/7/13 Construction Time! 4/4/13 Ready for Competition! 5/8/13 During this period we read over the requirement packets and asked questions to the EOC team. By this time, we were putting on the finishing touches and working on our presentation. We started thinking of ideas and designs for our robot. We also wrote the PDR during this time period. We were putting the finishing touches on our CDR at this point. Also, the programming team had been tinkering with the EasyC software to become more familiar with what they would be working with. After the CDR was approved, the team got to work building and programming the robot. The Design Process! 1/3/13 Questions On this day, the team wrote questions to ask the EOC team about the competition. How do we know when the course is completed? The team also toyed with the programming software (EasyC). VEX Clawbot Kit Purchased Components of Prom Date $149.99 Rationale: The VEX Clawbot Kit was used as a base kit to begin building and designing our robot. The kit contained the basic parts needed to start the initial construction of Prom Date. VEX
Linear Motion Kit $24.99 Rationale: The VEX Linear Motion Kit was used to make the arm on the top of Prom Date in order to knock over targets along the course. 1/10/13 As an active member of the KLCT, Marie was part of both the Design and documentation teams. After she graduates, Marie is going to attend Pennsylvania State University to major in mathematics. Answered Questions Advanced Gear Kit Rationale: The Advanced Gear Kit was purchased because the other kits did not contain the correct size gears needed to build Prom Date. $19.99 Jeff Searle came to answer all of our questions. The line will always be in the center! There are breaks in the line! 1/17/13-1/24/13 Preliminary Design Review (PDR) 2/7/13 Programming Breakthrough! Created variables for speed
created decrement and increment statements to make the correction smoother
created while loops that only allowed the motors to increment and decrement if it needed to correct itself The programming team was hard at work! They even planned what to do next time! Need to find good increasing/decreasing speed
need to create separate speeds for correction phases and on-track phases 2/21/13 More Programming!! Programmed a servo motor to test the arm extension for hitting target Also.... The design team discussed and experimented with "arm" ideas. 2/21/13 2/22/13 And then again the next day... Arm Designs 2/28/13 Construction Work! The construction team switched the bolts on the robot to make it stronger and tighter.
They also added the motors to the robot. 3/21/13 CADD Drawings First, measurements had to be taken so the CADD drawing would be to scale. Then, the CADD drawings were made using DeltaCad. This one shows the title block. 3/26/13 Documentation Day! The Documentation Team worked on the Critical Design Review (CDR) VEX Micro Cortex Controller Rationale: The Cortex Micro Controller was the central processing unit for Prom Date. Limit Switch 2-Pack Rationale: The limit switches were needed to determine whether or not Prom Date hit the target and were also used to help keep the robot on track throughout the course. $12.99 Advanced
Sensor Kit Rationale: Various sensors in the kit were used to ensure that Prom Date functioned autonomously $99.99 Miscellaneous Parts 8-310.125'' Setscrew (32 Pack) Rationale: The Setscrew pack was purchased for spare parts and back up. (2) 3-Wire Servo Motor Rationale: The 3-Wire Servos were needed to rotate the motion detector. However, after failed trials, the servo motor was not used on Prom Date. (2) 3-Wire Extension Cables 4-pack Rationale: The 3-Wire extension cables were used to extend the cords that attached the arm motor to the Cortex Micro Controller. Amber is a junior and this is her first year of engineering. She also participates in student council, key club, NHS, spanish club, WIRC, and SADD. She plans to attend a university where she can major in chemical engineering upon graduation. Lauren is a junior and this is her first year in KLCT. It is also her first experience with any kind of engineering. She also participates in various clubs at Kiski. Upon graduation she would like to use some of this knowledge in a career. Emma is a junior. This is her first year partaking in KLCT. Outside of engineering club, she is taking a Java programming course at Kiski. Other clubs she is involved with include Student Council, Key Club, SADD, and NHS. After graduation, she is considering majoring in computer engineering. The Line Trackers The Limit Switches The Arm The Line Trackers Motion Detectors Prom Date's Ditched Dates Parts Removed From Prom Date's Original Design The Infrared Sensors Before The original plan for the arm was to use the Clawbot claw that was included in the VEX Clawbot kit. However, after more clearly determining the functions of the arm, it became apparent that the use of the Clawbot claw was inefficient. The arm only needed to knock over targets, not be repositioned by the claw. The Arm After The Linear Motion Kit enabled us to create and arm that moved back and forth horizontally. The Design Team determined that it would be more efficient for the arm to simply knock targets over. It was decided that an arm which was capable of moving in a linear motion would be used instead. The Linear Motion Kit The limit switches were originally attached to the arm vertically. They needed to be changed because during the trial runs, the robot would often get stuck making a turn due to the protruding limit switch. The design team thought to change the position so they would flow better with the course. The limit switch was placed horizontally as opposed to vertically. After Why These Ideas Were Inefficient In the original design of Prom Date, only three line trackers were placed on the bottom of the robot. The width of the line that was to be tracked could be between 0.25 to 2.00 inches. It was not feasible to try to track 2.00 inch lines with only three line trackers. The line trackers needed to be adjustable, and capable of measuring the outside of the line. The four line trackers were placed on the bottom of Prom Date. The two line trackers on the inside of were programmed to track the edges of a high contrast line. The two outside trackers were used to track turns and tick marks indicating targets. The line trackers were then placed on a piece of plexiglass that was attached to the bottom of Prom Date. The plexiglass was cut so that the line trackers could be adjusted to the size of the line that it needs to track. The line trackers before the plexiglass holder was built. Before The first prototype of the motion detector was developed to rotate 180 degrees using a servo motor. However, the servo motor could not be programmed to rotate exactly 180 degrees around. Also in order for the motion detector to complete a full rotation, it would add a significant amount of time to the completion of the course. The goal of the competition was for Prom Date to complete the course in the fastest time possible. After Before Before Game Day! Accomplishments & Failures Failure Accomplishment Accomplishment Accomplishment Accomplishment Accomplishments Outweigh Failures The actual competition run Obviously, the KLCT did not have very successful runs at the competition on the actual course. Overall, we felt successful in all the hard work we put in to the robot. We are very proud of what we accomplished. The Learning I think the whole team can agree that everything that we learned was a huge accomplishment in it self. For most of us, this competition was our first time being involved in the Engineering Club. The knowledge gained from this is experience was invaluable The Experience The Experience: Priceless The Cost of the Robot: $602.87 The experience each member of the team gained is so valuable. We learned to work together as a team and constantly feed ideas off one another. We know that the experience we gained this year can only help us in future competitions. Fixing the Problem We know that the run at the competition did not go as planned. However, we remained proud of our bot and ourselves because we knew that we would have been able to fix the bugs, if more time was given. We know that our design was good enough to complete the course. Prom Date had definite potential. Meetings Every Tuesday and Thursday! Week of 4/2/13 Miscellaneous Jobs Documentation Team:
Organized Binder Programming Team:
Edited program for arm and line trackers $249.99 Design Team:
Worked on the design of the hinge for the arm $4.99 $39.98 Construction Team:
Put line sensors on
Tightened arm base
Cut and drilled holes in arm $39.90 Programming the Arm One of the more difficult tasks of building and designing Prom Date was programming the arm to hit targets. It took many trials in order for the arm to function the way we wanted it too. The arm was mounted on a block of wood so that it could be tested separately from the actual robot. Week of 4/9/13 Major Arm Construction! What we accomplished:
tested rack and pinion
removed arm from robot and bolted to a block of wood so that it could be worked on separately
upgraded the size of the gear
adjusted arms so they didn't stick See the first successful trial below! Arm Trial $765.93 Prom Date Trial One: Arm Program Trial Course to Competition Day Competition Day! Wrong Turn in Test Course Trial One: Arm Program 2 Trial 2: No Arm First Trial in Test Course We built a trial course in order to test the robot and prepare for competition day. However, Prom Date functioned more successfully in our test course than the competition course. We did not adequately prepare for the type of terrain obstacles that we faced. Line Tracking Progress 4th Trial 3rd Trial 5th Trial 2nd Trial 1st Trial Testing on Lab Bench If you see this symbol anywhere throughout the presentation, press the pause button in the lower left hand corner of the computer screen (pause the prezi). Then press play on the video. Press play again on the prezi (in the lower left hand corner) when you are ready to move on. Note Don't miss the video: Motion Detector Test In order to determine that our first motion detector prototype did not work, we completed a few trials. The motion detector was mounted to a block of wood similar to the way the arm was attached to a block of wood. There will never be a target at a turn! The Teamwork Snacks and Drinks for Meetings: $100.00 Bumper Switch Jumper Switch Potentiometer We removed the bumper switch because we no longer had any use for it. We found a way to use the infrared sensors to make up for the bumper switch. We removed the potentiometer because we no longer needed to determine the threshold. We found a good threshold through trial and error. We removed the jumper switch because the programing team figured out how to start the robot without it. When the sensors sense black when the robot is turned on, it knows that it is tracking a black line. Most of these ideas were simply repetitive or just not needed to make the robot successful. After The infrared sensors were used in place of the motion detector because they did not interfere with each when working. One problem with the motion detectors was that the sound waves were bouncing off each other. (2) Infrared Sensors $29.90 Rational: The infrared sensors were used in place of the motion detectors. They were needed to sense where the walls were. Tax & Shipping $93.22 Here's a diagram of what the course might look like! There will be some terrain obstacles! A learning robot is an option! 1/31/13 Calculating the size of the robot We used calculus to optimize the size of our robot. Constructing the Motion Detector In Summary... Thank You! A special thanks to the people who made this competition possible. Lessons Learned NEVER EVER procrastinate. There are always going to be more problems that arise. ALWAYS try new things. Team members that were on the design attempted to program and they learned a lot! BE CONFIDENT in your ideas. You don't know what will happen until you try! Course Pics! Kiski Land Challenge Team 4/16/2013 More Miscellaneous Jobs! Worked on programming line trackers. Worked on arm: attached both hinges and tested them Worked on motion detector: experimented with different ways to attach the motion detector TEAMWORK is key when it comes to a project as intense as this competition. 4/23/2013 Major Programming Day! Worked on programming for the arm so that it could move from left to right and programming the limit switches for the arm. Worked on programming for the infrared sensors. 4/30/2013 Problem Solving! 4/25/2013 More Programming! Continued working on infrared sensor and arm programming. Began testing the arm. Continued programming the infrared sensor and the arm. Determined that the sonic sensor was going to be placed to high. Resolved some programming issues and took notes and measurements for programming. 5/1/2013 Ultra Sonic Detector Breakthrough! Ran tests for the line detector and began programming so that the line detector could correct itself if it moved off center. Got ultra sonic detector to detect motion. 5/2/2013 Miscellaneous Jobs! Continued working on the arm. Compiled a list of things that still needed completed before the competition.
On the list...
fix line tracker
mesh the arm and vehicle programs
mesh the ultrasonic and vehicle program
fix the infrared sensor
program line tracker to differentiate between gap and the end of the course 5/2/2013 Continued... Sauntered wire to make servo motor compatible with VEX. Began working on presentation. 5/7/13 Worked on building the testing course. Continued working on programming. Continued working on documentation and the presentation Odd Jobs! 5/13/13 Fixed Line Trackers Created a plexiglass holder for the line trackers. 5/15/2013 Finishing Touches 5/16/2013 Fixed the arm Added new base for line trackers Painted the test track Fixed Programming Added tick marks on track and a target. 5/16/2013 Last Meeting Before Competition! Made final adjustments to the arm Flipped limit switches Adjusted the line sensors Switched ultra sonic sensors with infrared sensors Painted Prom Date Throughout the entire process, we all worked together to reach our goal. Everyone came to as many meetings as they possibly could despite busy schedules. No one person was left doing all the work; we always worked together as a team.