ECE Final Report Erin Halseth, Will Gottschalk, Briana Warschun, and Michaella Gaines

Purpose

•Program a robot that could follow a black line and stop when the line came to an end

•Sense the difference between the colors on ground

•Make a U-turn and to run through the path again and stop.

Resources

•Handyboard•Ac adapter•Serial connection

cables •Board connection

cable•2 LEGO motors

and finders•2 light sensors•Kit of LEGOS

Handyboard

Serial Interface board

/*Programmers: Briana Warschun, Will Gottschalk, Michaella Gaines, Erin Halseth. The robot is to follow a black curved path, make a U-turn, and return back to the starting point and stop. */void main(){    int sensor2, sensor3, flag=1, x=0, y=0;    while(start_button()==0);       //program waits until the start button is pressed to run program    while(flag==1)      {        sensor2=analog(2);        sensor3=analog(3);               if(sensor2<200 && sensor3<200)     //when both sensors see white both motors move forward at 35% power          {motor(1,35);             motor(3,35);        }        if(sensor2>200 && sensor3<200)   //when sensor 2 sees black and sensor 3 sees white, turns towards the left          {            motor(3,80);            motor(1,-25);            sleep(0.1);                  //sleeps for 0.1 seconds        }       else if(sensor3>200 && sensor2<200)   //when sensor 2 sees white and sensor 3 sees black, turns towards the right          {            motor(1,80);            motor(3,-25);            sleep(0.1);                //sleeps for 0.1 seconds        }                  else if(sensor2>200 && sensor3>200)  //when both sensors see black, stops for 2 seconds before making a U-turn, then terminates          {           printf("\n sen2 %d  sen3%d",analog(2),analog(3));            ao();            flag=0;            x=1;                    }        else          {            printf("\n sen2 %d  sen3

%d",analog(2),analog(3));        }    }    while(x==1)      {sleep(2.0);        motor(3,-100);        motor(1,5);        sleep(1.5);        ao();        x=0;        y=1;    }    while(y==1)      {        sensor2=analog(2);        sensor3=analog(3);               if(sensor2<200 && sensor3<200)     //when both sensors see white both motors move forward at 35% power          {motor(1,35);             motor(3,35);        }        if(sensor2>200 && sensor3<200)   //when sensor 2 sees black and sensor 3 sees white, turns towards the left          {            motor(3,80);            motor(1,-25);            sleep(0.1);                  //sleeps for 0.1 seconds        }        else if(sensor3>200 && sensor2<200)   //when sensor 2 sees white and sensor 3 sees black, turns towards the right         {            motor(1,80);            motor(3,-25);            sleep(0.1);                  //sleeps for 0.1 seconds        }                  else if(sensor2>200 && sensor3>200)  //when both sensors see black, stops for 2 seconds before making a U-turn, then terminates          {            printf("\n sen2 %d  sen3 %d",analog(2),analog(3));            ao();            y=0;                    }        else          {            printf("\n sen2 %d 

sen3%d",analog(2),analog(3));       }    }}

Procedures to Implement the Robot

Design Team

•Wheels

•Low to ground

•Wide sensors

•Light weight

•Two people per job

•Both jobs at same time

Challenges

•Equipment malfunction

•Program

•Weight of robot

•Design

Biomedical Experiment Discussion•Centrifuge

•Separate fluids

Sensorvoid main (){ while (!start_button()); //wait for start button to be pressed while (1)    {       printf("?\n sen3 %d?", analog (3)); //read the output from analog port 3       sleep(0.4);    }}

Motorvoid main (){ int a, b, c;  //declare integers a, b, and c while (start_button() ==0);  //wait for start button to be pressed for ( a=0; a<=100; a=a+10) //ramp up in intervals of 10 until 100    {        motor (1,a);        sleep (0.5);      } sleep (5.0); for (b=0; b<=100; b=b+10) //ramp down in intervals of 10 until 0     {       c=100-b;     motor (1,c);       sleep (0.5);      }}

Centrifuge

ResultsTurn time needed= 5 seconds

Results

Moto

r Pow

er

Time (seconds)

Conclusion

•Relationship between robot design and program

•Teamwork•Improvements necessary •Appearance