Team A7: The Robotiers
Jeff Ivey: Journalism, Writing
Aaron Maharry: Programming, Mechanical Design, Construction
Dan Sobchuk: Construction, Testing
Luke Stegman: Programming, Testing
Presentation Outline
1) Preliminary Concepts
2) Final DROID Design
3) Design Progression
4) Individual Competition
5) Final competition
6) Questions
Preliminary Route Plan
1. Push Button
4. Convey Skid
2. Flip Switch
5. Deposit Scoop
3. Pull Pin
6. Activate Charger
Preliminary Design Concepts
•Chassis: Erector set
• Drivetrain: 4 wheels
• Button: Structural member
• Switch: Structural member
• Scoop: Pivoting box
•Pin: Servo powered hooks
• Skid: Servo powered claw
Final DROID Design
• Chassis: Acrylic & Erector set
• Drivetrain: 4 wheels
• Button: Horizontal structure
• Switch: Vertical structure
• Scoop: Pivoting box
• Pin: Servo powered arm
• Skid: Forklift
Changes Over Time
Initial
Pin/Skid
Initial Button
Presser
Final
Pin/Skid
Final Button
Presser
Final Design: Sensors
•CdS Cell
•Analog Optosensor
•Microswitches
•Encoders
•RPS System
Insert
Picture
Final Code
• Classes
for Drive and IO, and Timer
• Scripting
and final script components
• Driving:
Encoder distance driving
Encoder and RPS turns
Proportional control when driving to switch
Final Budget
•Total Spent: $147.93
•Amount Remaining: $12.07
•Amount Spent on Motors: $44.00
Final Competition Route
1. Push Button
4. Deposit Scoop
2. Pull Pin
5. Flip Switch
3. Convey Skid
6. Activate Charger
Individual Competition Results
•
First Round:
 Failed early
 Scored 25
•
Second Round:
 Failed early
 Scored 5
•
Third Round:
 Did not press button, activate charger
 Scored 46
Changes For Final Competition
• Switched
to encoder turns
 Still retained two RPS turns
• Modified the driving script
 Driving down the RAMP
 Driving to the line by the PIN
• Adjusted
for:
light thresholds for new lighting
Final Competition Results
• Unsuccessful
round robin runs
 Failed to drive down RAMP
 Stopped on line to PIN
 PIN interfered with turns
• Success in elimination
 Near perfect runs
 Finished 3rd overall!
round
Analysis of Competition
•
Light detection problems
•
Success depended on RPS
•
PIN security problems
•
Overall success
Overview of Robot
• Drivetrain:
4 wheel drive
• Arm
for PIN and SKID
• Box
for SCOOP
Summary of Performance
• No
electrical or system issues
• Performed
well on Performance Tests
• Inconsistent
in Individual Competition
 Ranked 10th
• 3rd
Place in Final Completion
Questions?