1. Week 4 Team ECHO “Megatron”

2. Main() Megatron orient itself facing east, activation of all systems Start sweep: Start sweep: Wall following using proximity sensor, light sensors on the lookout for unloading area (cst. period of dark floor on both sensors) & helping with path correction Wall following using proximity sensor, light sensors on the lookout for unloading area (cst. period of dark floor on both sensors) & helping with path correction Question: Can we have a color sample of stacking area for sensor calibrating? Question: Can we have a color sample of stacking area for sensor calibrating?

3. Search pattern Picking up boxes and avoiding obstacles while searching. Picking up boxes and avoiding obstacles while searching. Robot width:10” Robot width:10” Search distance:2’3” Search distance:2’3”

4. Search pattern Advantages: Advantages: dead simple dead simple easy to implement easy to implement independent of unknown variables (grid size & stacking location) independent of unknown variables (grid size & stacking location)

5. Stacking area When we get there, disable orientation correction & wall following (in_stacking_area=true). mark the start of stacking area and (if box count= 3), drop stack. After dropping stack, back up, avoid it & mark location When we get there, disable orientation correction & wall following (in_stacking_area=true). mark the start of stacking area and (if box count= 3), drop stack. After dropping stack, back up, avoid it & mark location Also mark location of far edge of unloading zone. Also mark location of far edge of unloading zone.

6. subsequent stacking Consistent approach: slow, but failsafe and easy to implement Consistent approach: slow, but failsafe and easy to implement Lookout for stack location from US and odometer from edge of stacking area (which ever one comes first to avoid crashing in a stack) Lookout for stack location from US and odometer from edge of stacking area (which ever one comes first to avoid crashing in a stack) LUS used to correct distance from wall LUS used to correct distance from wall No turning in stacking area!! No turning in stacking area!!

7. subsequent stacking Advantages: Advantages: dead simple dead simple easy to implement easy to implement independent of unknown variables (grid size & stacking location) independent of unknown variables (grid size & stacking location) Allows for good protection of stacks from dumb robot Allows for good protection of stacks from dumb robot Dowside: Might be a bit slow (sacrificing speed for security) Dowside: Might be a bit slow (sacrificing speed for security)

8. Resume Search If we had reached 3 boxes before reaching area If we had reached 3 boxes before reaching area record location of where 3rd box was picked uprecord location of where 3rd box was picked up go backgo back resume search from there.resume search from there.

9. SYSTEMS

10. BADS (Box acquisition and dropping system) While loop always on the lookout for boxes except in stacking area and when shaft is full (!in_stacking_area && !Full) While loop always on the lookout for boxes except in stacking area and when shaft is full (!in_stacking_area && !Full) Counts: as soon as sensor=true, count++ Counts: as soon as sensor=true, count++ when boxes = 3; full = true -> goTo stacking area when boxes = 3; full = true -> goTo stacking area Trigger switch on the back of the forks (BADS = true) => activates lift and pauses motion Trigger switch on the back of the forks (BADS = true) => activates lift and pauses motion

11. NAS (Navigation system) Corrects heading when crossing perpendicular lines Corrects heading when crossing perpendicular lines While loop Turned off when picking up boxes and avoiding obstacles While loop Turned off when picking up boxes and avoiding obstacles while (!BADS !BOR) while (!BADS !BOR)

12. BOReS (Box and Obstacles Recognition System) HUS looks out for obstacles in front. Dead angle is covered by proximity sensor HUS looks out for obstacles in front. Dead angle is covered by proximity sensor If obstacle is detected in front, avoids it by going around & checking to make sure it passed before resuming normal path If obstacle is detected in front, avoids it by going around & checking to make sure it passed before resuming normal path d

13. BOReS (Box and Obstacles Recognition System) If LUS detects < 75cm, rotate 90o ccw to look with HUS If LUS detects < 75cm, rotate 90o ccw to look with HUS If obstacle || box < 10cm to wall; {move forward 15cm once and retry}If obstacle || box < 10cm to wall; {move forward 15cm once and retry} If boxIf box locate exact location locate exact location BOR = true; BOR = true; Record current number of onboard boxes (old number) Record current number of onboard boxes (old number) Orient To box angle Orient To box angle Go To box distance +15cm as per LUS reading Go To box distance +15cm as per LUS reading Since the first thing BADS does is count++ Since the first thing BADS does is count++ wait(1000)wait(1000) if count !> old count {jiggle and move forward some more}if count !> old count {jiggle and move forward some more} Return to search location & resume search Return to search location & resume search

14. BOReS Main disadvantage will not see boxes behind obstacles will not see boxes behind obstacles d

15. Time budget Used/Allocation (W4)= 76/66 Used/Allocation (W4)= 76/66 Used/Allocation (YTD) = 214/264 Used/Allocation (YTD) = 214/264