Bender the Offender

Final Presentation

Chris Wells

Overview

Bender will look for two specific colorsSeeing Red will make Bender want to run

awaySeeing Blue color will make Bender

aggressiveBender will also be able to seek out dark

hiding places

Collision Avoidance

2 Front-Mounted Sharp IR SensorsEach sensor’s value is the avg of 10

measurements

Movement via 2 hacked servosExample of movement function:void left_stop()

{

if (LEFT_SPEED > LEFT_STOP)

LEFT_SPEED += -2;

}

Light/Dark SeekingArray of Photo-resistors on topWhen Bender is in seeking mode, data

from the photo-sensor supersedes collision avoidance

while(1)

{DARK_FOUND = 0;if (HIDE_STATE)

DARK_FOUND = light_sensor();if (!DARK_FOUND)

collision_avoidance();}

Special Sensor

Front-Mounted CMU CameraIdentify and react to seeing blobs of Red

or BlueFirst look for Red blob

If found, Bender will stop looking and runIf not found, check for Blue blob

If this color is found Bender will attack

Special Sensor

Code for the CMU CameraSend the following via serial interface to

the CMUSend “TC 150 255 0 30 0 30\r” If a value is picked up go into run/hide modeIf not, send “TC 0 30 0 30 150 255\r” If a value is picked up, turn Bender based on

X value returned.

Current Form

Future Work

Mounting and coding the photo-sensorsTracking for the CMU cameraActuation – have a servo activate based

on CMU dataMisc body work – not just rely on glue and

tape to hold everything together