ECE 001: Team Awesome

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ECE 001Team Awesome

• Patel, Hetal
• Odobasic, Stephen
• Rajeevan, Sushmitha
• Noel, Kelli

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Mr. Awesome
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Objectives

• Build robot and write program to operate robot
• Move robot from start to finish on dark line
• Have robot complete a U-turn
• Make robot return to the start point by following
  the black line

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Resources

• Parts
• Two motors
• One handiboard
• Two analog sensors
• Lots and lots of Lego blocks
• Four tires-2 with rubber treads and 2 without

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Source Code

• Overall while loop
• State dependent cycle
• Complete one state and then move on to the next
• Used for U-turn
• Analog sensors
• Threshold of 200

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Procedure

• Wheels used instead of treads for better
  navigation
• Rubber wheels in back for better traction
  allowing better use of power
• Front wheels without rubber to allow for smoother
  turning
• Speed was set below full power to allow better
  control

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Order of Development

1. Source code and construction of robot prototype
   done simultaneously
2. Trial and error resulted in modifications to both
   code and robot
3. Final code written and final robot constructed

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Challenges

• Robot malfunctions
• First prototype was built with wheels
• issue with gear ratio
• Second prototype was built with treads
• Friction and weight of robot led to dilemmas
• Final design
• Went back to wheels with a lower gear ratio that
  worked less efficiently but provided better
  overall results
• Front wheels without rubber treads to minimize
  friction and add control
• Robot built with more fortification to sustain it
  under stress

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First Prototype
Second Prototype
Final Robot Mr. Awesome
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Programming Errors

• Turns
• Modified through trial and error until we
  concluded that one motor must have its speed
  reduced
• U-turn
• Initial program resulted in the robot turning in
  circles
• Second attempt relied on imprecise time estimates
• We concluded that the program should be written
  into two elements

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Biomedical Experiment

• A centrifuge is a device that separates liquids
  based on their density
• Centrifuges can separate liquids faster by the
  centrifugal force than gravitational force

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Trial Sensor reading (before separation) Sensor Reading (after separation) Oil Sensor Reading (after separation) Water Time to Separate (seconds) Motor Speed
1 154 122 228 60 100
2 150 120 170 60 80
3 112 125 212 60 60
4 115 137 204 60 40
5 115 148 206 60 20
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