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Slides
Milestone #3
Walls and Lights
Presentation Overview
• Changes to Moe’s
Body
• Sensors and
Electronics
• New Code
• Milestone Results
• Questions
2
Moe’s Body
Added Two Photo Transistors
• Centered up Front
• Towards the Back on the Right
• Balsa Wood Blocks
• ~ 15 cm high
3
Moe’s Body
Old Sensor Placement
Now Placed in a Horizontal Array
4
Moe’s Body
Added Bread Board Holder and Bumper
• Still Lots of Room
5
Moe’s Electronics
2 New Photo-Transistor Arrays
Da Buzzer
6
Moe’s New Code
• INIT
- define constants, ports, pins and delay timers
• CONTROL
- define motion directions, speeds, and variables
•LINE
- define line-following instructions
- other functionality
•MAIN
- responsible for finding lines
- distinguishes between different sections of track (‘knows’ where it is)
•AUTO_START
- loads line-following routines into memory
7
Moe’s Motion Code
Line
Old Layout
- uses inside sensors for line following
- outside left sensor determines transition in track
- uses simple memory schema for distinguishing between
turns
and obstacle markers
- contains code specific for the Light Corridor
- turning until specific sensor fires
Main
- 90o left turn code: important for aligning on markers
- obstacle-specific code for Room of Doom, Pinbot, Pickadilly
- takes input from upper front sensor for targeting lights
New Layout
8
Milestone Results
WE’RE NOT LAST!!!
Moe has been diagnosed with Performance Anxiety. He regularly completed
3 or 4 laps during testing, but only completed 1 during the milestone.
There is something very wrong with our code for counting lights. This needs
to be fixed.
Battery level was much less a factory for this milestone. Moe performed
consistently regardless of battery level, except when the batter dropped below
8.7V (anything below 9.2V would give us trouble before).
Fourth place feels good!
Thanks to Dogs of Thunder and Hex Factor for helping us with our buzzer
circuit.
9
Milestone Time Log
Hardware: 7 hours
Software: 24 hours
Documentation: 15 hours
Total: 46 man hours
10
Questions
?
11
Fly UP