Mars Exploration Mission

Mars Exploration Mission

1. Constraints

   • Robot
     • Equipment can vary between robots
     • Sensor can prove inconsistent
     • Traversing around object can be inconsistent depending on the angle that it's facing
     • Colour sensor inconsistent
   • Time
     • Not Enough time to perfect Object Movement
     • Not enough class time
   • Map Design
     • Line following requires the green to navigate the course correctly
     • finishing and ending sites are the same color as intesections
   • Software
     • No assigned blocks to cancel other lines of code
     • No online display feature (requires robot)
     • No switch variable to switch between two commands

2. Criteria

   • Navigate through obstacle course
     • Line Following
       • Sensor
         • Colour
           • Detects colours and intensity
           • Different Modes
             • Color Mode
               • Turning corners
                 • Detect green
                   • turn right motor
             • Reflected Light Intensity
               • Detects
                 • Black reflected from red light
                 • light intensity
                 • 0 = (very dark)
                 • 100 = (very light)
               • Switches to object avoidance without clashes
             • Ambient Light Intensity Mode
               • Strength of light
                 • sun light
                 • Room lights
                 • flash lights
               • 1khz/second
           • Right angle is key
       • Has to follow a line path from start to finish
     • Obstacle avoidance
       • Ultrasonic
         • Measures distance between an object
           • Sound waves that bounce off the object
             • Records cm and metres
             • Moves around perimeter off box
               • switches to line following
           • 15cm
       • Detects Object
         • Moves around the perimeter of the object
     • Moving Obstacle
       • Touch
         • Pressure sensor
           • When depressed
             • Moves around perimeter of object and pushes object off the course
       • Proximity sensor
         • Detects moveable object before avoidance
           • Pushes into center of box
           • Switches to object avoidance
       • Has to move object out of path

3. Algorithm Constructs

   • Selection
     • Line following
       • reflected light intensity < 36
         • if
           • Move left motor
         • else
           • Move right motor
   • Sequence
   • Iteration
     • fowever repeat
       • Display custom variable
       • Pressure Sensorr
         • If depressed
           • Move around object and push it out the way
           • Temporarily disable line following and object avoidance
     • Iteration 4
       • Proximity sensor
         • Object avoidance
         • Object Movement
     • Iteration 3
       • Pressure sensor
         • Object Movement
       • Proximity sensor
         • Object Avoidance