Team 6

Milestone 3

● Matt Bouchard, Paras Metha, Andrew Butcher

Overview● What We Will Talk About

– Light Sensor Configuration– Electrical physical set-up– Line following changes– Battery– Bumper– Buzzer– Results– Future

●What We Won’t Talk About–Specific tasks

●Most approaches were●similar

Light Sensor Configuration● Three sensors,

angled instead of parallel

● 15cm high, 13.5º spread of sensors

● Allows a larger field of view when detecting whether lights are on or off

Physical Setup of Electrical Components

● Too many uninsulated wires

● Too great a chance of short circuit at LED level

Bender: Milestone 2

Physical Setup of Electrical Components

● Less chance of short circuit

● Easier placement of sensors

● Easier connection of large number of sensors (seven)

● Fun-tac used to hold sensors in housing

Battery Problem

● Four days lost because of intermittent resetting of the NMI board

● Slow-blow fuse partially blown● Code that left values on the stack● “Cooked” battery● All lead to problems that reset the board

Bumper

● Originally mounted too low● Required due to missing mounting bracket● Supported by a loose wooden block

Buzzer● Problems connecting the buzzer

– DDRD must be set (so that Port D pins are appropriately used for output)

– Port D pins 0 and 1 are used for the serial port

– Thanks to the Dogs Of Thunder for supplying the transistor and the know-how.

Code● State based● Required meeting one task before the next could begin● Unable to recover from errors

● Loop {– On Marker

● Enter State● Perform “canned” series of movements● Change state to reflect completion

● }

Failure…?

● Completed one full lap of the track during the first part of evaluation

● In point-based test, failed to complete one lap, leaving us in last place (300 points)

● Uncertain why system suddenly failed– Happened twice in the same place, gives us something to look

into● Lesson:

– Expect it to happen from time to time– Build system robust enough to deal with such errors and

continue

Future Plans

● Analog multiplexer– Many sensors are currently being used– Only one port E pin remaining

● Rewiring– Simplify wiring setup

● Rethink Benders Design– Too much “just make it work” due to time constraints

Future Plans

● Robust Code– As suggested by Chris Parker

● “Luxuries”– Items not yet implemented that would have been if

more time had been available– Reset Switch– Motor/Sensor power switch– Missile Launcher