Jen(n) Squared
The final egg hunt main.c: Attach:egg_hunt_mainc.doc
Jenn Mann's Find Net and Drop Egg main.c:
Attach:jennmann_mainc.doc
Goal
- Get our colored eggs into the net before the other team
Sensors
- 2 servomotors (maybe 3)
- 2 light sensors (one to detect color of egg, and one to find lights over net)
- 2 distance sensors (one will be positioned at ball level, and the other will be positioned to look over the ball - this will allow the create to distinguish between the ball, the wall, and other creates.
- 2 touch sensors (these will act as extensions of the bumpers to protect the claw)
Strategy
| Task
| Description
| Who
| Actual Completion Date
|
| Find Egg
|
- The robot will use the same concept as the braitenberg code, spinning in place until an egg is found (if none is found, turn and drive forward for a specific distance). To find a ball, a distance sensor will be placed between both claws to determine a sharp change in the sensor reading. A second distance sensor will be placed just above the height of a ball to determine the difference between a ball and a wall or another robot. When the ball is found, the robot approaches the ball until it reaches a certain distance away from the robot. If the ball is moved, the robot will then repeat the find egg process to find the egg again. Use bumper sensors and distance sensors to avoid other objects.
| Jen Shields
| Code Completed
|
| Pick Up Egg
|
- Use hand like claw to pick up ball. We will use two servo motors. One will trap the ball from the right side and the other on the left side. Light sensor will determine whether ball is the right color or not. If it is not the right color, then we will release the ball and drive forward for a certain amount of distance to move away from the ball. If the ball is our color, then it will search for the goal to place the non-spoiled egg into the net.
| Jen Shields
|
|
| Find Net
|
- Modified Braitenberg Code: Once the robot detects that the right color egg has been captured, the "Find the Net" function will take over. Whereever the robot is on the course, it will complete a 360 degree rotation searching for the brightest area on the table. As it rotates, it stores the angle measure of the highest sensors reading. After the search, the robot will move one or two feet towards the area with the greatest light source. Then, to make sure that the robot is still on track, it will perform another rotation of 90 to 180 degrees, searching for the brightest area and then moving in that direction. Once a certain light value is reached (meaning the Create has arrived at the net), the robot will turn 180 degrees so that the claw on the back of the robot will be facing the net. Then the Create will move forward an inch or two so that the egg in the claw will fall into the net. And then SCORE!!!
| Jenn Mann
| Code Completed
|
| Drop Egg (GOAL!!)
|
- Once the light sensor detects a certain light value, the ball will be dropped into the net. The right and left servo motors will move away from each other, releasing the ball. After the ball is released and the distance sensor no longer detects the ball anymore, the Create will go back to searching for eggs...and then repeat the process.
| Jenn Mann
| Code Completed
|
Issues to keep in mind:
- Another robot or wall could potientially harm the claw.
- Building the contraption for keeping the eggs inaccessible from the other team may potientially not work (3rd servo motor may not be able to hold egg in place)
- 1 distance sensor to find egg may confuse egg with another robot. Issue Solved
Attach:egghuntbegin1
