Team A7: The Robotiers Jeff Ivey: Journalism, Writing Aaron Maharry: Programming, Mechanical Design, Construction Dan Sobchuk: Construction, Testing Luke Stegman: Programming, Testing

Presentation Outline 1) Preliminary Concepts 2) Final DROID Design 3) Design Progression 4) Individual Competition 5) Final competition 6) Questions

Preliminary Route Plan 1. Push Button 2. Flip Switch 3. Pull Pin6. Activate Charger 5. Deposit Scoop 4. Convey Skid

Preliminary Design Concepts Chassis: Erector set Drivetrain: 4 wheels Button: Structural member Switch: Structural member Scoop: Pivoting box Pin: Servo powered hooks Skid: Servo powered claw

Final DROID Design Chassis: Acrylic & Erector set Drivetrain: 4 wheels Button: Horizontal structure Switch: Vertical structure Scoop: Pivoting box Pin: Servo powered arm Skid: Forklift

Changes Over Time Initial Pin/Skid Final Pin/Skid Initial Button Presser Final Button Presser

Final Design: Sensors CdS Cell Analog Optosensor Microswitches Encoders RPS System Insert Picture

Final Code Classes for Drive and IO, and Timer Scripting and final script components Driving:  Encoder distance driving  Encoder and RPS turns  Proportional control when driving to switch

Final Budget Total Spent: $ Amount Remaining: $12.07 Amount Spent on Motors: $44.00

Final Competition Route 1. Push Button 2. Pull Pin 3. Convey Skid6. Activate Charger 5. Flip Switch 4. Deposit Scoop

Individual Competition Results First Round:  Failed early  Scored 25 Second Round:  Failed early  Scored 5 Third Round:  Did not press button, activate charger  Scored 46

Changes For Final Competition Switched to encoder turns  Still retained two RPS turns Modified the driving script for:  Driving down the RAMP  Driving to the line by the PIN Adjusted light thresholds for new lighting

Final Competition Results Unsuccessful round robin runs  Failed to drive down RAMP  Stopped on line to PIN  PIN interfered with turns Success in elimination round  Near perfect runs  Finished 3rd overall!

Analysis of Competition Light detection problems Success depended on RPS PIN security problems Overall success

Overview of Robot Drivetrain: 4 wheel drive Arm for PIN and SKID Box for SCOOP

Summary of Performance No electrical or system issues Performed well on Performance Tests Inconsistent in Individual Competition  Ranked 10th 3rd Place in Final Completion

Questions?