1. Erin Halseth, Will Gottschalk, Briana Warschun, and Michaella Gaines
ECE Final Report
Erin Halseth, Will Gottschalk, Briana
Warschun, and Michaella Gaines

2. Purpose
Program a robot that could follow a black line and stop when the line came to an end
Sense the difference between the colors on ground
Make a U-turn and to run through the path again and stop.

3. Resources Handyboard Ac adapter Serial connection cables
Board connection cable
2 LEGO motors and finders
2 light sensors
Kit of LEGOS
Handyboard
Serial Interface board

4. /*Programmers: Briana Warschun, Will Gottschalk, Michaella Gaines, Erin Halseth. 
The robot is to follow a black curved path, make a U-turn, and return back to the starting point and stop. */
while(x==1)
      }
 }
sleep(2.0);
       
motor(3,-100);
       
motor(1,5);
       

void main()

sleep(1.5);
       
{
   
ao();
       
int sensor2, sensor3, flag=1, x=0, y=0;
    while(start_button()==0);       //program waits until the start button is pressed to run program
   
x=0;
       
y=1;
   
while(y==1)
     
while(flag==1)
     
{
       
sensor2=analog(2);
       
sensor3=analog(3);
        
       
sensor3=analog(3);
        
      
if(sensor2<200 && sensor3<200)     //when both sensors see white both motors move forward at 35% power
          {
motor(1,35); 
           
motor(3,35);
       
motor(3,35);
    
    }
       
if(sensor2>200 && sensor3<200)   //when sensor 2 sees black and sensor 3 sees white, turns towards the left
         
if(sensor2>200 && sensor3<200)   //when sensor 2 sees black and sensor 3 sees white, turns towards the left
          {
          
  motor(3,80);
           
motor(3,80);
           
motor(1,-25);
           
sleep(0.1);                  //sleeps for 0.1 seconds
       
sleep(0.1);                  //sleeps for 0.1 seconds
        }
       
}
       
else if(sensor3>200 && sensor2<200)   //when sensor 2 sees white and sensor 3 sees black, turns towards the right
         
{
            motor(1,80);
           
motor(3,-25);
           
motor(1,80);
           
sleep(0.1);                //sleeps for 0.1 seconds
       
}          
       
sleep(0.1);                  //sleeps for 0.1 seconds
        }          
       
else if(sensor2>200 && sensor3>200)  //when both sensors see black, stops for 2 seconds before making a U-turn, then terminates
         
{
           
printf("\n sen2 %d  sen3%d",analog(2),analog(3));
            ao();
           
printf("\n sen2 %d  sen3 %d",analog(2),analog(3));
           
flag=0;
           
ao();
           
x=1;
            
       
y=0;
            
       
else
         
printf("\n sen2 %d  sen3 %d",analog(2),analog(3));
        }
   
printf("\n sen2 %d  sen3%d",analog(2),analog(3));
       
}
   

6. Procedures to Implement the Robot
Design
Team
Wheels
Low to ground
Wide sensors
Light weight
Two people per job
Both jobs at same time

7. Challenges
Equipment malfunction
Program
Weight of robot
Design

8. Biomedical Experiment Discussion
Centrifuge
Separate fluids

9. while (!start_button()); //wait for start button to be pressed
Sensor
void main () {
 while (!start_button()); //wait for start button to be pressed 
while (1)   
{       printf("?\n sen3 %d?", analog (3));
//read the output from analog port 3      
sleep(0.4);    }
Motor
void main () {
 int a, b, c;  //declare integers a, b, and c 
while (start_button() ==0);  //wait for start button to be pressed 
for ( a=0; a<=100; a=a+10) //ramp up in intervals of 10 until 100   
{        motor (1,a);       
sleep (0.5);      } 
sleep (5.0); 
for (b=0; b<=100; b=b+10) //ramp down in intervals of 10 until 0   
  {     
  c=100-b;    
motor (1,c);       }

10. Centrifuge

11. Turn time needed= 5 seconds
Results

12. Results
Motor Power
Time (seconds)

13. Conclusion Relationship between robot design and program Teamwork
Improvements necessary
Appearance