Lego Robot Construction Project

Group Picture!

Adam, Roger, Lu, Riana, Paul

Objectives for Robot

• Learn the basics of the Interactive C program.

• Learn how processors and sensors work within the Interactive C program.

• Design a code that would allow the robot perform the following tasks:• Follow a path set down by thick black tape.• At the end of the path, make a u-turn and

return to its starting position.

Parts List

1 handyboard RJ-11 Cable Serial Port interface C AdapterSerial Port

cable (25 pin to 9 pin)

2 large wheels 2 small wheels Computer running

Interactive C 8.0 Lego pieces 2 motors 2 analog light

sensors

Programvoid main () {         int lap; /* create a counter to count how many times the the robot has completed the course*/    int rightsensor; // creates variable for the right sensor    int leftsensor; // creates variable for the left sensor    while (start_button ()==0) {}  /*while start button is not pushed, do nothing*/    while (1) // one infinite loop {        leftsensor=analog(5); // defines left sensor as analog 5        rightsensor=analog(6); // defines right senor as analog 6        if ((leftsensor < 150) && (rightsensor < 150)) /* if neither sensor is touching black lines, the robot moves forward*/          {             motor(1,15);              motor(3,15);         }         else if ((leftsensor < 150) && (rightsensor >= 150)) /* if the left sensor reads white and the right sensor reads black, the robot will turn right*/ {                motor (1,100);            motor (3,-100);             }        else if ((leftsensor >= 150) && (rightsensor < 150)) /* if the left sensor reads black and the right sensor reads white, the robot will turn left*/ {                  motor (1,-100);             motor (3,100);  }        

Program Continued

else // if both sensors read black {             if (lap <1) /*if the robot has only completed 1 lap, then it will turn around and do follow the track for its second lap*/ {                      lap = 0;              ao ();                 sleep (2.0);                 motor (1,-50);                 motor (3,50);                 sleep (1.25);                lap++;            }            else // if the robot has completed the course, it will shut off {                 ao ();                 break;            }        }    }    ao ();  //all motors will shut off}

Procedures to Implement the Robot

Build body Wheels or tread? We chose a high

starting speed but had to adjust it

We assigned jobs according to talent-worked out well

Order of creation Body and program

created Test runs made Corrections made to

program for efficiency

Some Sample Robots (cont)

Challenges and Successes The lack of Gears - without gears there is less torque, therefore turns are harder. Friction - the friction forced our wheel off. Program - we had to cover all possibilities that the sensor could read. Motor Strength - without gears we had to constantly test the speed. If the strength was too

weak, the robot did not turn. If it were to strong, it flew off the S curve.

Completed the S curve without gears. Completed the course with full speed. Created three successful codes, in which one implemented a break statement. Built a sturdy robot that had the head of R2D2.

Challenges Successes

BIOMEDICAL EXPERIMENT

Centrifuge

Objectives of The Centrifuge

Creating a centrifuge to accelerate the separation of oil from water.

How?- Put the substance in circular motion in order for the centrifugal force to separate oil from water more quickly.

Using the skills obtained from this project to apply to real life situations.

- The separation of proteins and DNA - Sedimentation of cells and viruses -Separation of certain substances for

purification purposes.

About Centrifuge

a device that separates liquids based on their density

driven by an electric motor

puts an object in rotation around a fixed axis, applying a force perpendicular to the axis.

Code void main() { int speed = 0; float separation_time=4.0 ; float ramp_time= 0.1 printf ("\nPress start to

being?"); while (start_button() == 0)

{} // read value of oil + water

mixed up while (stop_button()==0) { printf ("\n mixed up

value=%d", analog (20)); sleep(0.2); }

• // ramp up motor• while (speed < 100)• {• // turn on motor at ?speed?• motor(1, speed);• // sleep for ramp_time• sleep(ramp_time);• // increment speed variable• speed = speed + 1;• }• • // full speed ahead!• sleep ( separation_time );• • // ramp motor down• while (speed > 0)• {• // do the reverse of ramp up loop• motor(1, speed);• sleep(ramp_time);• speed = speed - 1;• }• ao();• }

Results and analysisTrial

#Sensor Reading

(before separation)

Sensor Reading (after separation)

Ramp UP time (s)

Time separation

(s)

Ramp DOWN

time (s)

oil water

1 200 120 200 10 1 10

2 200 70 150 10 4 10

3 200 70 150 10 5 10

4 200 40 180 20 4 20

5 200 70 130 20 5 20

Motor Power (%)

t2 tt1

100

Conclusion:

With longer ramp up time and separation time, the oil and water will be separated more clearly.

Conclusion:

We tested the sensor for each change in environment so that our robot would remain on the right path.

We used a break statement to end the nearest while loop and to successful complete two laps.

We played with the adjustment of the speeds of the motors to successful turn as smooth as possible.

We wanted to add gears to increase torque and make the turns easier. We wanted to use a code without a break statement.

What we’ve learned…

What we wanted to add…