Competition 2 : Mint Shuffle Group 2

1
Competition 2 Mint ShuffleGroup 2

• Presented By
• Rishabh Bhargava
• Justin Hodges
• Scott Kuyken
• T.A. Steven Peters

2
Problem Statement

• Assumptions
• Position of pucks.
• Fixed dimensions of tape path and playing field
• Initial score of 3 points.

• Purpose
• Design and build a robot that will push three
  pucks across a boundary in a given time period.

3
Problem Statement

• Limitations
• 90 seconds.
• Cannot cross half way line.

• Scoring
• Push mint across 1 point.
• Robot falls apart -6 points.
• Robot crosses middle -6 points.
• Robot does not stop -1 point.

4
Research/Investigation

• Robotic Explorations by Martin, Fred.
• Reference to sections 2.3 (pg 73-75), 2.4
  (pg 75-86) and 2.5 (pg 86-87)
• Appendix E A Reference to Interactive C (IC)
• Previous study of light sensing and touch sensing
  programs
• used as core of current program.
• Avoid.c (pg 72-73)
• Braitenberg.c (pg. 85)
• State Machine (lecture, Dr. Flueck)
• Data from trials in previous lab sessions.
• Experimentation from labs 6-8
• ECE-100 website http//www.ece.iit.edu/flueck/e
  ce100/

5
Alternative Solution

• ForwardPush.c
• Start button is pressed
• Turns right
• Moves forward
• When tape path is found, follows tape path
• Pushes puck across center line
• Backs up to wall
• Repeats at turn right

6
Alternative Solution
7
Alternative Solution

• ForwardPush.c
• Traveled to the tape
• Had trouble with initial turn on the tape.
• When on tape, moved forward until bug reached
  puck
• Puck threw a shadow over the light sensors
• Bug thought that is was off the tape

8
Optimum Solution

• SlyBug.c
• Takes advantage of the known position of pucks
  and dimensions of the board
• Navigation of the robot on the playing field was
  timed
• Most efficient since it does not depend on
  readings of light sensors or position of touch
  sensors etc.
• Required tremendous calibration to get all the
  turns precise.

9
Optimum Solution
Robot in Home Box facing forward. Start button
pressed.
Turn right 90º and move forward until in line
with tape path (0.7 s).
Turn left 90º and move forward. Push the puck
along the way to the end of the tape path (6.5 s).
Pause for quarter of a second and move all the
way back (6.5 s).
Repeat the entire procedure from step 2 two more
times
Power off after 90 seconds
10
Optimum Solution
11
Construction
Original Design

• Light Sensors
• Front.
• Above tape path (approx. ½).
• Centered and 1 apart.
• Bumpers
• Front and projected 1½ - 2.
• 2 above the ground surface.
• 6 ½ wide.

12
Construction
Final Improved Design

• Pushing Surface
• Front.
• Below bumpers.
• Extension arm (4 wide and 2 ½ long).

13
Analysis/ Testing

• ForwardPush.c did not follow the tape path
  properly. Moved very slowly on dark surface.
• After number of trials, SlyBug.c pushed 2 pucks
  at the end of lab 8.
• Beginning of lab 9, robot pushed all 3 pucks
  using SlyBug.c on the practice board.

14
Analysis/ Testing

• Turn sleep times and forward/bakward movement
  sleep times where calibrated.

15
Conclusion

• SlyBug was a reliable strategy worked well
  during practice trials
• Required absolutely PERFECT calibration
• Layout was slightly different on actual
  competition playing field, therefore robot did
  not perform
• Timed motion best strategy for the competition
• Tape following best strategy for final
  competition
• Given enough time, can be calibrated to push all
  3 pucks every time