- If yes, drive toward light and put egg into goal

- If no, release

In order to plan for the practical, Tina and I divided up our Egg Hunt procedure into two parts. I took it upon myself to capture the egg, determine if it was the desired color, then bring it to the goal using an altered form of my light following code from Lab 5. Tina and I both constructed parts to use on the robot and took a significant amount of time deciding on a layout for our structure that was effective, simple, organized, and appealing to the eye. Upon completion of the physical aspects of the robot, I started creating the heart of the entire project - the program itself.

I began with determining the values of the blue and yellow eggs using the photocell sensor. Next, I made a code to drop the arm (via servo motor) on the egg and, using the previously determined egg values, decide if it was the desired color. If it was not the right color, the arm would raise back up to release the egg. However, if it was indeed the right color, then the program would kick into the light following to find the goal and drop the egg in. The most confusing part for me was bridging the two parts of the code together. I could capture the egg and I could find the light, but I just could not get them to work together. After use of various beeps and LEDs, I realized my code was getting stuck within an if statement due to the fact that none of my functions had return statements in them (Thanks Mr. Rhine!). Problem solved. It was frustrating to realize how trivial my error was, but also relieving to know that I wrote all other parts of my code correctly.

Preparing my code and robot for this demonstration proved to be trying. I did not think it was going to be as difficult as it was. The entire process took almost 24 hours inside the lab, during and after school. There were multiple days where I left my house not long after I woke up and returned home after dinnertime.

Program Code Δ


Flowchart Δ