2.14.12 Adjustments and Competition

On Friday 2.10.12, I continued to test and make adjustments.  I figured out the avoid obstacles problem by increasing the range for movement (50" to 6").  I also was able to test the flame sensor range and found better values to allow the Square Bot to function properly.  The straight path runs were fine.  The turns were not fine.  When I tested a few lines of code, a straight with one turn, it worked fine.  When I added more lines of code to run more paths and turns it did not work fine.  The turns were over by about 20 degrees.  I ran out of time to test more runs and make more adjustments.
At the Competition on 2.11.12 in Cal State Long Beach the same problem occurred, over turn by 20 degrees.  The Square Bot wasn't able to complete the course.

In the video below, following the competition, we tested the first path to the first room and the Bot made the right turns with no problem to our surprise!

 Also, the video below shows that our Bot was able to scan, locate, and put out the candle flame.

2.9.12 Changed the right encoder and adjusted the motor speed

Today, we continued to have problems with straight path runs from the Square Bot and bad readings from the flame sensor, as well as, stops related to the avoid obstacles code.  We replaced the right encoder and had to makes changes to the code.  A metal bracket was added to keep the right encoder from moving out of place.  The motor speeds had to be adjusted.  The straight path problem was eliminated. 

 When we performed test runs to the first room, we had problems with the flame sensor readings and the avoid obstacles range.  More adjustments are needed.

2.8.12 Flame sensor range and avoid obstacles range

Today, we continued to work on the flame sensor range.  When we tested the Square Bot in the practice maze the flame sensor would pick up the flame while facing one of the walls at an angle.  It was the glare/reflection of the flame.  We also had to adjust the range of the avoid obstacles function that allowed the Bot to move forward slowly when the flame was detected and to stop within a short distance from an obstacle (the flame base/wall).  My partner later added the fan to the Square Bot.

The C++ code for the room path was constantly being adjusted.

2.7.12 Square Bot Testing and Fan motor interface

Today, I programmed more for the Square Bot and its' sensors.  I completed the flame sensor interface between the Square Bot and the computer.  My partner in the meantime, finished installing the circuit for the fan motor and the flame sensor (photo-transistor).  Instead of the fan motor he used a light to indicate that it was receiving the 5V from the digital output.  It worked!   When we test ran the Square Bot we were still having problems with direction and straight path runs, as well as flame readings.

2.2.12 Ultrasonic Rangefinder, flame sensor, and programming

Today, I went over the programming for the Square Bot and interfaced the Ultrasonic sensor with the photo-transistor while my partner added the sensors to the Square Bot.

The programming required a few more while loops and call functions.  The call functions made the task main portion of the program less cluttered. 

2.1.12 Photosensor and testing

Today, my partner and I were testing the photo-transistor on a PCB.  We first had to find the right resistor for our flame sensor to work properly.  After trial and error, we decided to use a 22kOhm resistor that gave an output voltage of about 2 Volts.  We also measured the range voltage at about 1 meter away.  These values, the one meter range and the 10 inch close range, will be used later in the programming for the VEX and photo-transistor interface. 

 

In the meantime, I continued programming for the Ultrasonic-sensor.  This sensor lets the robot sense objects that may be in its' path.