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Tricks robotics competition report

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INDEX

THE HARDWARETHE LOGICTHE ALGORITHMTHE FLAG

THE END ZONETHE CRATER

THE HARDWARECOMPONENTS USED1 x iPitara brick1 x base2 x motors2 x L- brackets2 x axle adapters1 x castor clamp1 x castor wheel1 x seven hole strip4 x 5 hole bent strip5 x rj45 cables3 x IR sensorsX nuts and screws

THE LOGICWHITE LINE AVOIDERARESBOT ( named after the greek god of war )basically avoides the white line.We placed IR sensorson either side of ARES. As soon as a sensor detects awhite surface,it turns away from it.So if the rightsensor detected a white surface,it will turn away fromit towards the right and vice versa.Next we coded a special condition for when bothsensors detect white, which is quite necesoryforavoiding the crater. We programmed it such thatwhenever IR detects a white surface on both of it'ssensors , it turns right ( because thats the direction ofturns round the crater) .An advantage of thisapproach is we didnt have to do any programming forthe blind patch,which would have been necesory ifone of the sensors was following white.Now we'll discuss the unique programming for eachpart of the track in detail

THE ALGORITHMCONDITIONS

look for conditions below

turn right for 300 ms

turn left for 225 ms

turn right for 400 ms

move straight continuously

1) beep2) move backwards for 2 seconds3) turn right for 500 ms4) reverse for 3 seconds5) wait 3 seconds6) move forward 6 secondsand stop

THE FLAGin order to hoist the flag,an IR sensor on the flag had to betriggered .to activate the mechanism ,we wrapped a layerof aluminium foil around ARES to act as a reflector .thisstep was necessory as most of our bot is black ,plus thedistance of 8 inches does not work for us....

COMMUNICATION LINKn order for this stepto be completed successfully,we had tocarefully calibrate the time and place of the bot during thetesting so that it would turn the lever by 60 degrees. this isthe only place where the programming is not foolproof.

avoiding the crater was a comparitively easy task.wejusthad to add one more lineof tothe programming whereboththe sensors read white.that way on whenever it encountersa turn with both sensors reading white,it turns right.itrequired a little more fine tuning though.

THE CRATER

stock deposition was not a big challenge as it incorporatedthe same programming as of the communication link zone

STOCK DEPOSITION

THE ROCK

THE END ZONE

Ares has a IR sensor built in front ofit to detect the rock.As soon as therock is detected,it activates it'ssepcial serious of moves

Due to the specified distancebetween sample zone and end zone,,also taking into account the variedcolour patterns on the ground,wedecided to go with a timed approach