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Matthew Murach

Overview of Project 3: Phase A Slides are available at : http://www.pages.drexel.edu/~mjm46 Report for all phases due last day of class. Matthew Murach. Project 3A: Ball Capture.

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Matthew Murach

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  1. Overview of Project 3: Phase ASlides are available at : http://www.pages.drexel.edu/~mjm46Report for all phases due last day of class Matthew Murach

  2. Project 3A: Ball Capture • For this project, you are to capture/release a number of ping pong balls located on the course. This requires the following • Grapple Arm – Capture ping pong ball • Smart Navigation – Project 2 • Grapple Arm Control Protocol • If your design is correct your machine will find/capture the ping pong ball and “shoot” it into the starting position’s goal.

  3. Project 3A: Obstacle Navigation • For this project the maze navigation in project 2 should be used on the maze. • This project will not have any obstacles present in the course. This means that a good navigational system is all you need to stay in the course.

  4. Project 3A: Functions • The following steps are needed for this project • Turn functions along with calibration features • A Forward function that uses sonar( ) to indicate an object (ping pong ball) is present. • Capture( ) – initializes grappler arm note this is a good place to use IR • Shoot( ) – instructs robot to lift arm/backup and move forward very fast and stop. • Internal Compass and Grid Navigation

  5. Total Distance E/W Total Distance N/S Goal: Go to the opposite side, turn and come back (without hitting walls). Project 3A: Sample Run

  6. Project 3A: Run Procedure • Robot will start near the goal facing the other green area. • Robot will do the following: • Find the ball • Capture the ball • Return to base • Shoot the ball • Pull a 180 degree turn, stopping in the original starting position.

  7. S1 S2 Grappler arm is up Grappler arm is down Project 3A: Sample design • Trap procedure • Use sonar( ) to find the sphere “red arrow” • Slowly approach target • Use IR(s) to trigger trapping mechanism “green arrow” • Note IR beam is tripped by the ping pong ball “yellow arrow” • IR instructs grappler arm to swing down • IR instructs motors to stop • Note sonar( ) distancing is now unavailable

  8. Project 3A: Other Considerations • Note that the ping pong balls will be placed on risers. Namely the small axle stops that are currently glued on the course. • You will need to ensure that proper clearance is maintained so that the robot doesn’t get caught in it. • The location of the ping pong balls will also be centered will respect to E-W to ensure that this effect is minimized.

  9. Project 3A: Report • This project will require the following. • Each design team consisting of 2-3 students should submit a lengthy report detailing the design (not including C files). Pictures and graphs count toward this requirement and are encouraged. Note that the final report will include all phases of project 3. • In addition, all C files needed for this project should be well commented and readable and submitted with the report. • Also each team will be required to show that the design works by illustrating the robot can successfully capture the ping pong ball.

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