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LJFRoboticsPracticalWelcome to my Robotics Practical page. For my practical, I built and wrote code for a device that would trap the ball and release it when the robot found the goal. My first attempt was two independent L-shaped things built out of popcycle sticks and mounted on a foam board. It was unsuccesfull because of its flimsyness and because of a lack of ease of set up.  original foam mounted design My second attempt was built out of K'Nex, which I found to be stalber and more easily adapted than popcycle sticks. Instead of two independent arms, I merged them into one claw. After much adjustment, I had an apparatus that could snap onto the robot without tape. The first program I wrote for the ball trap was a simple test program- push the advance button, and the trap goes down, trapping the ball. Push the play button and the trap goes up, releasing the ball. The next program I wrote was to release the ball when the robot sensed a cliff, because in the arena, there is a drop at the goal. Unfortunately, the gap is not wide enough for the robot to sense the cliff, so it was just ramming into the lightboard. I tried to make the trap smaller, but to no effect. To remedy the problem, I used a snap action switch. I wrote a second program to release the ball when the switch was pressed. In both programs, after the ball is released, the robot turns around and drives off in the opposite direction to find more balls (not part of this program). In the attatched code, the short test program is there but segmented out. One can access the cliff sensing program by pressing the advance button and the snap action switch program by pressing the play button. Attach:ljfservoflowchart.ppt Δ Attach:ljfclaw1.jpg Δ see, it hooks onto the back Attach:ljfclaw2.jpg Δ robot carrying ball to goal Attach:ljfclaw3.jpg Δ robot releasing ball into goal |
