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SOShaughnessyPracticalExam

Goals -
1) Follow wall to go around outskirts of the arena allowing the giant scooper to pick up as many balls as possible in the easiest way

2) Once done collecting balls use light sensors to locate goal

3) Go to goal

Approach

1) The code written uses wall sensors to follow the edge of the arena, when the bumpers are set off, it then turns the other way and uses the wall sensors again to follow that wall. Obviously there is no wall where the goal is or at least it is a bit far for the robot to bump into, therefore the cliff sensors act as a bumper in the sense that if the right sensor goes off it treats it as if the right bumper was hit. The program is set up to drive for a certain time that we pick, once it has traveled that far it then moves on to finding the goal.

2 + 3) after completing lab 5, much of the same principles were used to find the goal. The same equations i used in lab 5 I used again here. Each sensor controls the speed of the opposite wheel. Right light sensor -> left wheel, left light sensor -> right wheel. If a bumper is set off it then turns away and continues the light search. It knows the goal is in front of the robot when the cliff sensors go off so that is when it knows to stop.

Attach:OverEasy5.jpg Δ Attach:OverEasy2.jpg Δ