The EggHunt assignment can be broken down into two sections: Coding and Hardware
Coding Strategy
Our EggHunt code will be made up of several distinct parts:
- Finding the ball
- Returning the ball to the net
- While holding ball, wander the course until both photoresistors detect the light
- Use proportional control to direct the robot towards the wall
- Once the Create is close to the light, it will move forward at a slow speed until its front switch sensor is hit (by the wall w/ lights)
- Then the front shield holding the ball will lift, the Create will move forward a short distance to drop the ball, and then it will back up and rotate 180 degrees to resume searching for a new ball
Hardware
- Our first piece of hardware will consist of a simple lever that lifts and drops a piece of plywood that acts like a fence in front of the ball. The Create will then drive over to the net, and the ball will drop into the net by means of gravity. The servo will then raise the tool and the Create will go back to searching.
- To assist the "fence," two pieces of vinyl material will be placed on the back of the Create to form a cone shape, so the ball will be funneled into the desired spot.
- Two photoresistors will be used to utilize Braitenburg's theory in order to find the wall with lights
- Three switches, to act like bumpers, will need to be installed on the robot. One on each side and one on the front fence.
Our Main.C
Francis
Ven
Combined
Ven and Francis EggHunt MainC.txt
Plan of Action
| Task
| Description
| Who
| Completed
|
| CODE - Search for ball
| Modify code from wall following to find ball
| Francis
| in process
|
| CODE - Pick up ball
| Use hardware to pick up ball
| Francis
| in process
|
| CODE - Detect color of ball
| Use some type of sensor to detect color of ball
| Ven
| done
|
| CODE - Search for net
| Modify code from Lab 5 photophilic task to use small lights to find net
| Ven
| done
|
| CODE - Drop ball in net
| Prevent Create from missing dropping ball in net
| Ven
| in process
|
| CODE - Define user interface
| Decide what the buttons, LEDs, Cricket display, sound we'll use to make it easy for user to run the robot.
| Both
| waiting
|
| HARDWARE - Create a tool
| Self-explanatory; make a tool that can handle and control the ball
| Both
| done
|
| Finish project
| Integrate the code and hardware onto the robot & work out bugs
| Both
|
|
| Final adjustments
| Tweak any nit-picky things between project completion and the day of the EggHunt
| Both
|
|
NOTES:
- 2 minute timer code and "wait for play" feature will be copied from previous labs
