Team Two/Final Paper
From Maslab 2011
Contents |
Team Members
- Leighton Barnes - Course 18, 2013
- Cathy Wu - Course 6, 2012
- Stanislav Nikolov - Course 6, 2011
- Dan Fourie - Course 2, 2012
Overview
Mechanical Design
Our robot was designed for robustness and reliability.
Electrical Design and Sensors
Motor Controllers
power FET
H-bridge
protection diode
Batteries
NiCd and Lithium options reasons we used lead-acid
Sensor Choice
bump sensors
break-beam
encoders
IR range-finders
gyro (or lack thereof)
Software Design
Architecture
cathy
vision driven
color calibration
state machine with bump detection and timeouts
sensor abstractions
Multi-threading
cathy issues?
States
cathy
what states
timeouts
Vision
cathy
color calibration
data structures
botclient
documentary mode
Wall following
stan
Stuck detection
stan
Testing
Testing suite
cathy
Mechanical Issues
ball jamming
eeepc access
battery placement
bump sensor coverage
pins falling out
motor failing
Electric Issues
leighton
single-conductor wire and broken connections
uORC sample rate
power for fourth motor
Software Issues
cathy & stan
multi-threading
wall following
stuck detection
Performance
Suggestions
-form a team early and commit to doing maslab for all of IAP -work really really hard -test really really often
- Form a team early and commit to doing MASLAB for all of IAP. We formed our team before the start of the school year.
- Have a well balanced team. It's important to cover all grounds with software, mechanical, and electrical. Our 2 software + 1 mechanical + 1 electrical combination balanced us very well.
- Start before IAP and aim to have most of everything done in the first 2 weeks of IAP. Because we did most of the design before IAP, We managed to have a functional robot (not the pegbot) by the first mock competition, which helped us out greatly. We also were able to spend the last week and a half making fixes for various edge cases and had time to just polish up things.
- Test relentlessly. You'll find something wrong with your robot every time.
Photos
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