Name: Robot-1
Considering our limited sucess at the first obstacle course, we decided to again try another one. The goal was the same as the first obstacle course, but this time I intended to finish!
| Size | 8" circular | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Power | One 9.6 volt rechargeable RC car battery (1000mA); 4 AA rechargable (1200mA) | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Processor | MRM board (68332) | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Language | David Fidde's GCC 68332 port (C++); my C++ MRM library. | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Motors | Two 3 volt DC geared motors in differential steering configuration; 1 servo to for scanner IR sensors | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Sensors | 2 Sharp12 IRs, 1 Daventech compass, 1 OR501-ND for line detector, 2 bumper sensors, and 1 sonar, 2 Hamamatsu photoreflectors for wheel encoders. | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Competition Results | I won! Unfortunately, Gary's Leggo had technical difficulties and disintegrated on the course, and did not finish the competition; Jeff's robot came in a very close second. | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Robot Notes | Using H-bridges instead of modified servos--the power is very easy to control through a PWM.
I've converted some servos to geared DC motors--I wouldn't fool with modified servos again (unless someone knows something
I don't).
Also, This was my first "scanner" like robot, but I was pleased with the performance of the IR "scanners". I could have done it without it, but it would have taken 6 IR sensors (at 30mA each); although I did have to resolder one particular IR line 3 times because of wear and tear. The scanner allowed me to reduce power consumption (and cost) of additional IR sensors. Dirty power supply seemed to be a big problem for some reason. Where usually you would use .1uF capacitors, I was using a 2500uF capaictor from my power into my 5v regulator, and additonal 1000uF to the IR sensors. Part of the problem was a dirty supply from a wall converter when I wasn't using the battery, but otherwise, I suspect my wires were too long or faulty connections. As far as weight, the bolsa wood does not help much as I found the majority of a robots weight come from the batteries, motors, controllers, etc. The frame is only a small part anyways; thus, thin particle board (or aluminum) is still light, and easier to work with. One of the advantages of an 8" robot is the Sharp GP2D12 sensors give false reading for about the first 4". With a 4" radius you can set 2 sensors back to back centrally located and avoid the blind region. | |||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Parts List |
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