Transcript Document 7618160

Team 6
Milestone 3
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Matt Bouchard, Paras Metha, Andrew Butcher
Overview
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What We Will Talk About
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Light Sensor Configuration
Electrical physical set-up
Line following changes
Battery
Bumper
Buzzer
Results
Future
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What We Won’t Talk About
–Specific
tasks
●Most approaches were
●similar
Light Sensor Configuration
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Three sensors,
angled instead of
parallel
15cm high, 13.5º
spread of sensors
Allows a larger field
of view when
detecting whether
lights are on or off
Physical Setup of Electrical
Components
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Too many
uninsulated
wires
Too great a
chance of short
circuit at LED
level
Bender: Milestone 2
Physical Setup of Electrical
Components
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Less chance of
short circuit
Easier placement
of sensors
Easier connection
of large number of
sensors (seven)
Fun-tac used to
hold sensors in
housing
Battery Problem
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Four days lost because of intermittent resetting of
the NMI board
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Slow-blow fuse partially blown
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Code that left values on the stack
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“Cooked” battery
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All lead to problems that reset the board
Bumper
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Originally mounted too low
Required due to missing mounting bracket
Supported by a loose wooden block
Buzzer
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Problems connecting the buzzer
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DDRD must be set (so that Port D pins are
appropriately used for output)
Port D pins 0 and 1 are used for the serial
port
Thanks to the Dogs Of Thunder for
supplying the transistor and the knowhow.
Code
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State based
Required meeting one task before the next could begin
Unable to recover from errors
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Loop {
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On Marker
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}
Enter State
Perform “canned” series of movements
Change state to reflect completion
Failure…?
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Completed one full lap of the track during the first part
of evaluation
In point-based test, failed to complete one lap, leaving us
in last place (300 points)
Uncertain why system suddenly failed
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Happened twice in the same place, gives us something to look
into
Lesson:
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Expect it to happen from time to time
Build system robust enough to deal with such errors and
continue
Future Plans
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Analog multiplexer
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Many sensors are currently being used
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Only one port E pin remaining
Rewiring
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Simplify wiring setup
Rethink Benders Design
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Too much “just make it work” due to time constraints
Future Plans
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Robust Code
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As suggested by Chris Parker
“Luxuries”
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Items not yet implemented that would have been if
more time had been available
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Reset Switch
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Motor/Sensor power switch
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Missile Launcher