Description: Internal Variables Control and Display Sensor Control and Display Debug Window w/ custom application breakpoints Emergency Controls : STOP / ABORT Single Step Command Execution Log Debugging Interface

Screenshot of Visual Basic Debugging Interface Debugging Interface

Goal:Move robot to arbitrary location Actors:Driver Scenario:Use mouse to control robots rotation Use keyboard to control robots motion Sensors unused. Ramming objects considered intentional. Other:Robot loses communication Robot exceeds performance limits Goal:Orient robot to face nearest object Actors:Driver Scenario:Robot uses sensors to scan for nearest object Robot rotates to face nearest object Other:No object detected More than one object at same distance (ie. stuck in a corner) Use Cases

Goal:Emergency Stop (PANIC) Actors:Driver Scenario:Useful when robot goes insane All motor velocities set to zero Other:Robot out of communication range Use Cases (contd.) Goal:Automatically move away from all objects (ANTI- COCKROACH MODE) Actors:Driver Scenario:Useful when robot stuck in corner, trapped Robot will automatically rotate and move away from all nearest objects Other:Robot blocked on all sides

1.Designed interface to work with a Quake3 style of control 2.Translating mouse-velocity to wheel-velocity, scalable by a plus/minus offset depending on keyboard-arrow input seemed like the obvious choice. We transmit only velocity data. 3.In mobility mode, we require the camera to always face forward to better determine Roborts orientation when driving 1.This requirement led to a separate required camera mode where the user can control the camera unhindered by otherwise arbitrary limitations in mobility-mode Development Requirements Process

Mobility: send only wheel velocities Camera: send only up/down angles along y-axis Sensors: return sensor information C# Interface Application does the following: Receives mouse and keyboard input for a Quake-like look n feel In mobility mode: Translates x-direction input into velocity data for Roborts wheels Interprets y-axis mouse data into angle data for Roborts camera In camera mode: Translates all mouse input into angle data for camera Communications Protocol

Group Meetings This Week: Development Requirements Process Meeting #1 Date:January 28, 2003 Time:8:00 PM Location:Olsson 001 Attendees:Joe, Kyle, Sharmil, Steven Agenda:Division of labor for the week Meeting #2 Date:February 1, 2003 Time:1:00 PM Location:Olsson 001 Attendees: Joe, Kyle, Sharmil, Steven Agenda:Verify completion of individual tasks.

Development Requirements Process (contd.) This Weeks Tasks: Joe : Risk documentation, management report, partner group meeting. Kyle : Prepare presentation. Sharmil : VB mockup, partner group meeting. Steven : Template for system specification document. Ongoing Tasks: Joe : Prepare C# mockup for robot control display Kyle : Socket programming Sharmil : Research GUI, keep up website Steven : Learn to communicate with robot through Linux and C++

Development Requirements Process (contd.) Problems Faced: Developing a C# GUI prototype See Our Website For Full Management Report :