1. Team 1 Asha Chigurupati Sungjune Jang Tian Tang

2. Navigation  Racing + Avoiding : SSI feedback + Encoders  Line tracing? Only on the board  Wall tracing? When SSI is missed  Strategy-based controls  Circular/Rectangular? Depends on slipping  We can introduce non-minimum phase  Shortest path is optimal  Check for required avoidance and so on  Anyways, no slipping seems important here

3. Drive System  Two different radius wheels  Two identical radius wheels with steering  Two identical radius tilted wheels  Possible for forward driving  Camber angle introduced – slipping issue  We choose radius with experiments  If radius is small enough, we add steering

4. Shape & Size

5. Launching Balls  DC Motor Spinning  Pros : Simple design  Cons : Straight shooting, Larger volume, More motors (need more batteries?), slowdown issue?

6. Launching Balls(cont’d)  Servo Motor + Spring  Pros : Constant speed, less volume, parabolic, No slowing down when battery out  Cons : Complex design, not enough torque from servo?

7. Batteries  2 for drivetrain + 1 or 2 for the rest  case 1 : If we use servo motors for shooting, no noise possible  case 2 : If we use DC motor spinning, 1 for them and 1 for the sensors + Tiva

8. Sensing What?  Obstacle crossing : SSI feedback (on both finding the entrance & tracking ) + Ultrasound (not white LED) + tape sensor (Camera losing the kart)  Shooting balls : SSI feedback + tape sensor + IR sensor

9. Thanks to Alex and Annie Any Questions?