RACE Reactive Autonomous Coordinate Executor Created by: Neil Javalla Dustin Torres Derrick Yanga

RACE Path Programmable Avoids Obstacles Adaptable

Schematics

Programmed Path

Components Arduino One Speed Control – Electronic speed controller Steering Control – Servo Arduino Two Detects Obstacles – IR Sensor – Average algorithm Sends obstacle data to Arduino one – Wire

Detecting obstacle

Timing Diagram The clock runs at 50Hz The speed controller gets sent a signal at the beginning of each clock cycle to determine the speed. We used a signal of 1270us Servo also gets a signal at the beginning of each clock cycle and it is variable 1100us is complete right turn 1500us is center 1900us is complete left turn

Challenges Surface trouble – On different surfaces the speed varies, which in turn changes the angle and makes it hard for our car to be surface independent Servo trouble – The servo was not exact and created a drift making it hard for the car to go straight IR sensor trouble – Erroneous values can through off the sensing of objects Battery trouble – Even with voltage regulators, a dieing battery will change the current through our circuit, inevitably causing a change in speed