Project Overview
The project goal was to use the various mechatronic techniques that we learned throughout the course to build an autonomous robot. These techniques include signal processing, Serial Peripheral Interface communication, controlling motors with motor drivers, using hardware-generated timers and pulse width modulation commands, and hierarchical state machines. The robot was designed to play the game specified in the "PROJECT SPECIFICATIONS" and "PROJECT HANDOUT" sections.
Project Specifications
In order to successfully complete the project, the robot must:
- be a stand-alone, autonomous, and un-tethered entity;
- use no more than two 7.2V batteries to drive the wheel motors;
- have a mechanism to designate whether the robot is on the RED or GREEN side;
- have a bumper surrounding its perimeter extending for 2" vertically with its bottom edge exactly 1" from the floor;
- be fully contained within a 1' cube at the beginning and end of the game;
- launch balls with an above-horizontal trajectory that land no more than 12' from the robot and reach a peak height of no more than 8' above the floor of the playing field;
- carry an easily accessible switch to cut power in case of a software or hardware malfunction;
- cost no more than $200.00 to build;
- indicate when construction is in progress;
- communicate with the playing field through the Logistic Operations Coordinator (LOC);
- measure and report the magnetic frequency of the appropriate staging areas in order to open construction sites;
- launch balls into the open construction sites;
- request balls from the supply depot in a specified manner when reloading.