Mission Statement:
The purpose of R&D is to generate big ideas which can add to the knowledge bank of the robotics team. All products are open source in an effort to increase collaboration between subteams.
Current project:
Maximizing Sensor application and utility.
Abstract: The Vex Robotics sensors provide several input options for autonomous activity, but the inventor's guide materials provide only rudimentary implementation options. If intellegent autonomous behaviour is to be developed the first step is to maximize the utility of the inputs.
This project is divided into sub projects based on each sensor.
1. Line Trackers
2. Light sensor
3. Ultra sonic range finder
4. Accelerometer
5. Optical shaft encoder
6. Potentiometer
1. Line Tracker:
The line tracker can be used by a robot in competition to determine it's position on the playing field then guide it to scoring zones.
Current status: Functional code and funtional sensor array
Summary:
The programming-bot can follow a black line of width 1/4". Current code allows for realtively tight turns (radius dependant on wheel base), and will travel at high speeds when the line is centered.
Bugs:
Travel drift causes the bot to rock back and forth on the line, traveling in an almost S like path.
Ocassional dark spots can cause the bot to deviate from it's path.
Bot must travel at relatively low speeds to prevent it from getting lost.
Proposed improvements:
Additional sensors for more spacial awareness
Raising the sensor array up an 8th or 16th of an inch to implement fuzzy calculations
Developing more advanced control structures for trajectory correction. (minimize the over shoot)
2. Light Sensor:
The light sensor can be used to determine the amount of visible light which enters the sensor. This sensor can be used , in conjunction with colored gels, to identify the color of a scoring object and to determine the autonomous responce based on that object's color.
Current Status: Waiting for light sensors to arrive in the lab
3. Ultrasonic Range finder:
The ultrasonic range finder can be used to determine distance from an object or wall. This sensor will be instrumental in identifying the position of game elements during autonomous mode, and additionally it will allow the bot to sense the presence of opponent robots and to respond accordingly.
Current Status: The ultrasonic range finder has yet to be implemented in any robot, but we do have access to one.
4. Accelerometer:
The Accelerometer is useful because it can be used to measure the robot's velocity and position, given the proper code. I feel that this sensor, if properly utilized, could be the most valuable input that the robot recieves.
Current Status: The accelerometer is attached to the Programming-bot and awaiting testing
5. Optical Shaft Encoder:
The optical shaft encoder is a simple input device that can be used to measure the number of times a wheel has turned and through what angle it has turned. More than that though, when used in conjuction with other sensors (such as another optical shaft encoder and a potentiometer) it can be used to determine the exact motor power necessary to maintain straight line travel, perfect 45/90 degree turns, and other more precise behaviour. The team has continuously experienced a disconnect between motor power levels and actual performance, and this method can be used to correct that problem.
Current Status: Optical Shaft Encoders are in place on the programming bot, and need only to be tested and coded.
6. Potentiometer:
The Potentiometer is used to measure the current angle of a particular part in relation to its base. This is useful for determining the position of scoring mechanisms. Its useage is simple, but like the Optical shaft encoder it may be possible to construct more advanced behaviour based on its imput.
Current Status: The programming bot has no scoring mechanisms attached and therefore will not be implementing the potentiometer until more structural work occurs.
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