Project Objective:
The goal of this project is to design and construct the System for Quick Removal of Litter (SQRL) from scratch, drawing upon the knowledge acquired from courses 218A and 218B. The SQRL system engages in competitive gameplay against another SQRL unit, with the objective of removing "acorns" or pucks from their respective "yards" or sides of the field. Points are earned by strategically placing pucks onto colored regions within the opponent's yard, with each zone corresponding to a distinct point value.
Game Play:
The yards consists of four trees, two on each side labelled E, D respectively (for Ed's yard) and K, A respectively (for Karl's yard). In each tree, are 5 pucks in each of the trees and one additional puck that each team can decide where to place on the yard prior to the beginning of the game.
In each yard, there is a designated start zone where the robots must be randomly orientated with the center of the tape aligned with the center of the SQRL. When the game is started, each SQRL must determine which side of the field they are on and indicate the side to the spectators. Along with indicating a side, the SQRL must indicate that game play has started with an indicator such as an LED as well as start a timer. Once game play is started, the SQRL moves autonomously around its own yard until timer is set to expire after two minutes and eighteen seconds which is one the SQRL must immediately stop all autonomous operations. Lastly if the SQRL crosses into the other yard, it is immediately disqualified.
In each yard, there is a designated start zone where the robots must be randomly orientated with the center of the tape aligned with the center of the SQRL. When the game is started, each SQRL must determine which side of the field they are on and indicate the side to the spectators. Along with indicating a side, the SQRL must indicate that game play has started with an indicator such as an LED as well as start a timer. Once game play is started, the SQRL moves autonomously around its own yard until timer is set to expire after two minutes and eighteen seconds which is one the SQRL must immediately stop all autonomous operations. Lastly if the SQRL crosses into the other yard, it is immediately disqualified.
Sensors Used in Autonomous Movement
To enable autonomous navigation in the yard, our robot is equipped with a comprehensive suite of sensors and control mechanisms. Five tape detection sensors are strategically positioned to detect tape markings on the ground, aiding the robot in following predefined paths during its tape driving state. Additionally, a single IR photo transistor, located at the top of the robot, captures high-frequency IR pulses emitted by nearby trees, facilitating orientation and enhancing navigational accuracy. Furthermore, encoders mounted on both motors provide precise feedback on wheel rotation, enabling the implementation of a PI controller. This controller ensures the robot maintains a straight trajectory by continuously adjusting motor speeds based on feedback from the encoders. By integrating these sensors and control mechanisms, our robot navigates autonomously with heightened precision, effectively following tape paths, orienting itself with respect to environmental features, and maintaining straight movement to efficiently traverse the yard.
Description Of Robot Functionality
Our robot was equipped with a sophisticated array of components designed for efficient performance and versatility. Two DC motors, directly linked to the wheels via spider couplers, provided robust locomotion. A 270-degree servo motor powered our spinner, meticulously targeting and striking acorns with precision. Complementing this, another servo controlled an arm attached to a limit switch, facilitating tree detection upon contact. To fortify our defensive capabilities, dual servos operated gates on the sides, strategically expanding our coverage area during yard defense mode. Additionally, a servo, ingeniously integrated into the baseboard, acted as an indicator, signaling the robot's orientation.
Sensing technology played a crucial role in our robot's functionality. Five reflectance sensors enabled us to follow tape, assuming fairly straight driving which did not always happened. A limit switch, synchronized with the arm, provided crucial feedback during tree interaction. We implemented encoders to enhance straight-line movement, employing a basic PI controller for precision. Furthermore, an IR sensor enhanced our detection capabilities, aiding in both tree identification and overall arena orientation.
Operational efficiency was optimized through meticulous state machine integration. In the 'ClearTreesAcorns' state, activated upon receiving a button event, the arm was lowered for tree clearance. Upon completion, the arm was raised, and side gates were opened in preparation for the 'YardDefenseSM' phase, maximizing coverage for acorn clearing. Finally, during tree interaction, the robot activated the servo-controlled puck hitter, leveraging a gear stage to achieve higher velocity and precise puck targeting within a 270-degree rotation.
Sensing technology played a crucial role in our robot's functionality. Five reflectance sensors enabled us to follow tape, assuming fairly straight driving which did not always happened. A limit switch, synchronized with the arm, provided crucial feedback during tree interaction. We implemented encoders to enhance straight-line movement, employing a basic PI controller for precision. Furthermore, an IR sensor enhanced our detection capabilities, aiding in both tree identification and overall arena orientation.
Operational efficiency was optimized through meticulous state machine integration. In the 'ClearTreesAcorns' state, activated upon receiving a button event, the arm was lowered for tree clearance. Upon completion, the arm was raised, and side gates were opened in preparation for the 'YardDefenseSM' phase, maximizing coverage for acorn clearing. Finally, during tree interaction, the robot activated the servo-controlled puck hitter, leveraging a gear stage to achieve higher velocity and precise puck targeting within a 270-degree rotation.