team 4 shane sunada – project leader malcolm menor – project manager nathan umeda – technical...
TRANSCRIPT
![Page 1: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/1.jpg)
Team 4
Shane Sunada – Project Leader
Malcolm Menor – Project Manager
Nathan Umeda – Technical Supervisor
Joseph Longhi – Documentation
Final PresentationMay 9, 2008
![Page 2: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/2.jpg)
To design and construct a robotic “mouse” that can successfully navigate to a central point of a randomized maze and return to the starting point with minimal collisions.
Overview
![Page 3: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/3.jpg)
Hardware
![Page 4: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/4.jpg)
Initial Goals- Robot base must be able to rotate
180 degrees in a 16cm x 16cm square- Robot base should be robust- Robot base should be light (no excessive material)- Robot should be easily disassembled - Robot should LOOK GOOD!
![Page 5: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/5.jpg)
Alteration-Chassis and Sensor Layout
-Rear Sensors-Tire size
- Chassis lightening- Circuit element decisions
![Page 6: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/6.jpg)
Problems-Thought our motors were bad when circuit was on Breadboard-Shorted RCM2000-Batteries/Power Drain-PCB-Heat Generated-Finding Right Value of Resistors for Sensors
![Page 7: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/7.jpg)
Software
![Page 8: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/8.jpg)
Initial Goals-Get it moving Straight
-Tracking-Get it to turn
-180-90
-Wall Hugger-Right-Left-Switching-Random
-Flood Fill-Track (x,y) position in maze-Flood Filling Functions
![Page 9: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/9.jpg)
Straight/Tracking-Stop one wheel-Deciding which sensors to use-Use Costates-Reverse Code-Acceleration
![Page 10: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/10.jpg)
Turning-Move both wheels in opposite
directions so turn in place-UTurn is just 2 turns
![Page 11: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/11.jpg)
Wall Hugger-Slow down when no wall-Turn after no wall then wall-Started with just right wall hugging-Mod to left wall-Switching-Random Pulses
![Page 12: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/12.jpg)
Flood Fill-Tried position with step count-Wrote other functions-Not able to get all function to sync
![Page 13: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/13.jpg)
Problems
![Page 14: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/14.jpg)
Straight/Tracking-If tried a smooth correction it didn’t correct fast enough
-Sensors to far apart-Trying to Find the Right speed to move the mouse-Sometimes tracked when we didn’t want to
-(Tracked into Wall)-Changed Sensors Used
![Page 15: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/15.jpg)
Turning-Getting the values for turning-Sometimes one wheels locked
![Page 16: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/16.jpg)
Wall Hugging-Getting Code to compile-Deciding When the mouse should turn
-Instead of using step counts sense when wall disappears and then reappears
-Turned when it shouldn’t or the wrong directions-Change what sensors were used to detect turn
![Page 17: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/17.jpg)
ContinuedSwitching/Random
How to make it switchImplementing a Random FunctionAdded LED
Crashed into wallReset Feature
![Page 18: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/18.jpg)
Flood Fill-How to write a flood fill code and what it is-How to avoid flood overflow
-Just don’t check outer walls-Keeping track of position in the maze
![Page 19: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/19.jpg)
Recap Final Standing-Have Chassis using Stepper Motors and a PCB Motorboard-8 Sensors and 2 LED on a Adjustable Sensor Board-10 1.2 V Rechargeable Batteries-Left, Right, Switching, Random Wall Hugger, Drag Race switchable with 8 Dip Switches
![Page 20: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/20.jpg)
Outstanding ProblemsWhat we would change
![Page 21: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/21.jpg)
Power Drain/ Heat-More Voltage Regulators-Stepper Motors gave problems-Rechargeable Batteries-Add one more Switch
![Page 22: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/22.jpg)
-Sensor Layout-Closer Sensors-More Sensors-PCB Sensor Boards
-Weight Reduction-Position
-Trying to keep track of position in maze
![Page 23: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/23.jpg)
-Moving-S-Turns-Better Tracking
-Solving Algorithms-Getting Flood Fill to work-Find a better algorithm
![Page 24: Team 4 Shane Sunada – Project Leader Malcolm Menor – Project Manager Nathan Umeda – Technical Supervisor Joseph Longhi – Documentation Final Presentation](https://reader035.vdocument.in/reader035/viewer/2022062315/56649ea85503460f94bac3af/html5/thumbnails/24.jpg)