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OukSonEggHuntPlanningPage

Team Egg of Destiny! Gundam 0x08

Tasks

1. "Time Out" after 2 minutes
2. Find goal
3. Find Egg
4. Capture Egg
5. Identify Egg
6. Release egg into goal or throw into darkest depths of the battlefield!!

Strategy

1. Alter Braitenberg Lab codes to detect the special home light (values should be different from egg colors and opponent's home light).
2. Use light sensors(?) to read different values for yellow or blue egg. Have Gundam rotate in place a couple times to sense for desired egg if nearby. If none is found nearby after rotating, drive a certain ways and repeat rotating process until desired egg is detected. Retrieve the egg and check if it's te correct egg. Plan course of Actions if desired or undesired egg.
3. Design rig to either drag or pick up the egg (and drop into back if undesired!) using servo motors. Rig should have a sensor positioned on the rig to check for egg color to choose further course of actions
4. Gundam runs to goal, reaches edge, when front(?) cliff sensors are set off (use sides to have front cliff sensors hang off edge: rig should go under the egg slightly at least, so that its front cliff sensors can be off the edge but still hold the egg ??) release egg into goal.

Use stopwatch code(?)

Blue Cohort

• Program a "Blue Egg Mode" and "Yellow Egg Mode" (with the Play and Advance buttons)
• Identify the X color egg (light sensors?)
• 'Capture' the egg (with a rigged servo motor & distance sensors?)
• Bring the captured egg back to the goal (by honing in on the light source?)
• End Program after 2 minute trial and wait for button to be pressed again to continue
• Defensive: Turn away from bumps (make the stucture sturdy within bounds of Create (nothing falls off when 'attacked!'))

  Extras...

• Offensive: Take the other team's eggs away!! after programming it to pick up our egg color to put into goal, if it detects other egg color, pick up and toss into back of Create!
• Offensive: Put our own eggs into the other team's goal to deduct points!!! bwahaha! >:]

  Ideas...

• Need minimum 3 Light sensors: 2 to find the egg, 1 to make sure the egg has been properly captured (horizontal range of light sensors might require 3 sensors in the front OR shorter straws!)
• When 2 light sensors (not distance sensors<--insensitive to color) are in "looking for egg" mode (and not "looking for home light" mode),
• 2 light sensors in front, spin around to look for egg; capture! then while third light sensor ensures egg in egg catcher, 2 other light sensors look for light source (which should be in a diffeent range not like blue or yellow)

Linda's Progress on the Egghunt Project

Date: Fri. Jan. 4. 2007

Completed:

• Distance sensor is insensitive to color: use light sensors to detect egg color. One light sensor is slightly more sensitive than the other (30-50 difference): calibrating may or may not be neccessary.
• Set up "Blue Egg Mode" and "Yellow Egg Mode" based on the "Pause/Resume" code from Lab 5 Braitenberg.
• Coded function to make speed proportional to light values sensed.

Trouble with:

• Coding the initial search for the light: coding the Create to run around looking for a light value that's greater than the ambience.
• Applying revolutions to increase drive radius when spiraling (use wimp mode instead?)

Need to:

• Figure out how to calibrate the color-detecting sensors if neccessary (Blue/Yellow differentiation)
• Finish Braitenberg Lab (photophilic portion): alter codes for "finding goal" portion of egg hunt.
• Code spiraling random movement for egg search, or alter Wimp Mode. (But once the egg is found, drive straight?)
• Apply 2 minute timer to "Blue/Yellow Egg Modes."
• Extend light sensor wires to be able to position them infront/on sides of Gundam at "egg-level" to detect the eggs. (Gundam is too tall!)
• Experiment with straw length and positioning of light to the sensors: figure out best straw length and positioning of light sensors on Gundam (pointed straight ahead or pointed in, etc) to cover entire front range.

Ideas:

• How to position the light sensors to be used as egg-detector, goal-finder, AND color-confirmer (sense color of egg before captured, or when captured in rig?). Place distance sensors directly below light sensors (need 2 long(?) distance sensors?).

Date: Fri. Jan. 11. 2007 Completed:

• Coded two-minute Timer.
• Coded proportional drive towards the light/goal and stop.
• Worked with David to design and build an egg-capturing rig (removed the back of Gundam).

Trouble with:

• Getting Gundam to take actions after having stored the highest value when returning to the goal.

Need to:

• Alter codes for Lab 5 Braitenberg's initial search to be used as random search for Blue/Yellow Eggs.
• Alter Braitenberg codes to have Gundam search for Blue/Yellow eggs instead of the brightest light source.
• Figure out how to calibrate the color-detecting sensors if neccessary (Blue/Yellow differentiation)
• Extend sensor's wires?
• Experiment with straw length and positioning of light to the sensors?

Ideas:

• With egg-capturing rig in the back, maybe have Gundam reverse-oriented to make light sensors muilti-purposed? or just add another light sensor?

Back to Linda's Main...



David's Progress on the Egghunt Project

Date: Fri. 01/04/08

Completed:

• Rough plan for the entire egg hunt.
• Countdown to automatically stop the Create from running after 2 minutes time limit.
• Coded for basic trajectories and random movement to find eggs (by rotating or spiraling while detecting for certain egg color) and deliver it to the goal.
• Coded for evasive maneuver from walls and opposing Create bot (possibly using the distance sensor to evade before collision take place), but for now something similar to wimp mode using bumpers.

Trouble with:

• Detecting egg and verifying the distance needed to drive then stop to pick up the egg.
• Deciding whether to pick up the egg and drop it at the goal or dragging it and push it into the goal.
• Not sure how to detect an egg color and its distance at the same time.
• Not sure how to code to drive to retrieve the egg. and light sensors reading may read different values on same colors due to brightness or distance.

Need to:

• Find out how many of each sensors will be needed to be maximize effectiveness in egg hunting and where their positions should be in order to find out reading values for coding.
• Building the a rig powered by servo motor and code it to pick up and drop egg.
• Considering to incorporate "P.I.D" control to the Create's driving while hunting for egg to ensure accuracy and safety of the Create.
• Finally try to combine everything and code for an egg hunter GUNDAM 0X08.

Ideas:

• Thinking about dragging the eggs into the goal by pushing it may speed up the process.
• Placing distance sensor and light sensor together may help detecting distance and color of a single egg at the same time.

Date: Fri. 01/11/07

Completed:

• All the planning is completed (the outline for the entire egg hunt)
• Built an efficient "grabber" to grab an egg then drop it off at goal.
• Understood how to code for servo motor.
• Coded for how the Create goes about to finding the egg (similar to wimp mode).
• Quite sure one which external sensors to use on different tasks like detecting egg, light, and other objects.

Trouble with:

• Incorporating P.I.D control into programming the Create.
• Still in the process of figuring out the most efficient pathway the create should take in order to find egg and drop it as soon as possible.

Need to:

• Find most efficient way possible for the Create to retrieve and drop off egg.
• Need to finalize on how the servo motors should be programmed in order to pick up an drop off the egg.
• Need to find out whether wimp, following the wall, or Braitenberg concepts should be use to find the egg.
• Put all the finished pieces together and modified as needed to program the Create for egg hunting.

Back to David's Main...

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