Matt and Taylor's Egg Hunt Plan
objective:
Retrieve all eggs of specified color and drop them in net
In order for the create to affectively hunt eggs the program will have to...
- Be able to sense either blue or yellow eggs (they'll be sensed by light sensors and the values will be put into the program so it can distinguish between the two colors).
- start with the push of either the advance or play button, one will make the create find blue, the other will make it find yellow.
- Use servo motor(s) to "grab" the targeted egg.
- Use the wall follow so the create doesn't hit the wall.
- Use Light sensors to find its way to the christmas lights where it will drop the egg into the net.
- Have safety features so when the create goes to drop the egg into the net it won't fall off the table.
Strategy:
Task 1, catch the egg
- Have the light sensors poll for the yellow or blue egg light frequencies
- When the light sensors sense the frequency, allow robot to move the next stage (probably using a while command)
- Use the light or wall following sensors to chase the egg
- When light or wall following sensors reach certain value (when the egg is withing the claw's grasp) have claw grab egg
Task 2, put the egg in the net
- Use light sensors to locate the net
- Drive up to net and stop when front cliff sensors sense cliff
- Drop egg
Update for 1/4
Revisions to plan
- IR sensor will be used to determine when the create is close enough to activate the servo motor and grab the ball.
- When the create drops the ball it will spin back around 180 degrees.
New! Phases
- 1.Go get the ball and stop in time to grab it.
- 2.After correct ball is found get it to the lights and drop it. Then start over again.
Matt-Working on Phase 1
Taylor-Working on Phase 2
Progress
On Thursday we met up at UML to work on this project. We got some sensor readings for the blue and yellow playplace balls and started to make a flowchart for the code that will be required.
Update for Janurary 11
Ball Finding:
For ball finding, the light sensors because of their inaccuracy and short range will have trouble finding the ball, so it is better to use long-range distance sensors. Because the distance sensors have a 10 cm range up close which has inverted values, it would be easier to use the back of the robot under the create box.
So far as a strategy, the distance sensors can be used to keep the ball in the middle (between the right and left distance sensors, both pointing backward). When the left distance sensor senses a value within a given range, the robot will turn backwards to the right (so that the wheel on the opposite side of the sensor is turning) and backwards to the left for the right sensor. When the robot gets close enough, the light sensor mounted under the trapper will see the ball, and Taylor's part of the program will take over.
Getting the ball to the net~Taylor
- I've started writing the code and have constructed the flowchart for my practical exam.
- We've changed our strategy slightly.Instead of having Matt identify the ball color I will with a light sensor mounted over the ball on the claw.If the targeted ball is present the servo will lower the claw and capture the ball.If the wrong color is present the create will drive forward and push the ball away.
- Once the correct ball is caught the create will drive to the goal using Proportional control.
- I'm not using a formal search pattern,but I'm having the create rotate when it bumps the wall so regardless of where it starts the create will be in the line of sight of the goal in 2 or 3 bumps.
