Task

Task

1. Constraints

   • Personal
     • Dirty mats, making it hard to line follow
       • Dirt can make the whites have a different colour
   • Robot based
     • Robot build
       • Cant use dual sensors
       • Cant change positions of the parts
     • Old parts that dont work correctly
       • Parts start to break after a few years of use

2. two possible solutions

   • Simple Line following
     • Positives
       • Simple and easy to work with
       • implementing other code into it isnt difficult
       • Gets the job done at a basic level
     • Negatives
       • Difficulty making sharp turns
       • Might stray of path after Box avoidance
   • Complex pid line following
     • Positives
       • Extremely quick, can complete the course faster than an average line follower
       • Extremely accurate, as it moves left or right based on error margine.
     • Negatives
       • everything has to be calibrated otherwise it wont work.
         • The porportional part is originally set to 0.5, however to correctly calibrate it, you need to change the value by +/- 0.01
       • difficult to accomplish / takes time to learn, as it gets average error.

3. Ev3

   • Software
     • Line following
       • PID
         • Single sensor
         • Adapts to course - good for complex ones
       • Three way line following
         • Duel sensor
         • accurate for simple courses
       • Standard line following
         • goes only left and right
         • Has to start on a single side of the line
         • Single sensor
         • Very simple, bad for complicated courses
     • Box avoidance
       • Going around
         • Detecting the box's weight
           • Touch sensor
             • .
           • Ultra sonic sensor
             • If the touch sensor is not depressed and the ultrasonic sensor detects the object, the robt will determine the box to be moveable vise versa
         • Finding the line after it goes around
       • Pusing it
         • Following the line while pushing the box
   • Hardware
     • Sensors
       • touch sensor
         • The touch sensor detects the amount of force applied to the sensor, usually located at the front left.
       • Colour sensor
         • Detects the colour that is underneath the robot.
       • Light sensor
         • Detects the amount of light that is reflected.
       • Ultra sonic
         • Detects the distance from the UV sensore to the nearest object infront of it
     • Motors
       • Wheels
     • ports

4. algorithim constraints

   • PID
     • Lots of bug testing required
       • Finding corret light values
       • Setting good values for variables
     • Might be too complex
       • The course isnt too curvey, so pid is overkill
   • Three way line following
     • Too simple, resulting in the robot now being able to follow the line correctly
       • The robot might oversteer/understeer due to the simplicity
       • Might not get task done due to losing the line
     • Need dual sensors
       • Three-way line following doesnt work with 1 sensor, as it cant detect either side of the line
       • Cannot modify original robot

5. Criteria

   • PC
     • Follow the Line
       • Turn right well
       • Turn left well
       • Stay on the line
     • Move around the box
       • Find the line after moving around the box
       • go around it based on width and lengths
     • Push the box
       • Recognise if box is too heavy
       • follow the line while pushing the box
     • Dance when mission completed
       • PLay a song
       • Create a dance
     • Move around the box
       • Even if its too heavy or light, it will move around the box
       • Be able to detect the box
   • SDC
     • Turns Sharply when green is detected
       • Green squares are placed at sharp corners, so the robot can make sharp turns while being accurate.
       • The ending zone is green so the robot can celebrate if it detcts green
     • Completes the course quickly
       • Completes course in about a minute
       • Have a high accuracy while completing the course
         • The robot will aim to complete the code in under a minute (for the pid solution), while staying on the line, to reach the destination in the quickest way possible. The robot will move around the box, as it will save time, because the speed of the motors isn’t effected too heavily
     • Restarts course when completed
       • - Do a 180 after the dance and find the line.
         • The robot will be able to restart the line following code after it completes the dance, and will not get stuck in an infinite loop while dancing. The robot will also be able to find the line after it leaves the green, assuming it hasn’t moved away from the original position. If the robot cannot find the original line, it will start to search for it.
       • - Identify when it has finished the course.