EV3 Problem

EV3 Problem

1. Sensors

   • Touch sensor
     • The purpose of this sensor is to detect whether an object is in direct reach of the robot.
       • When the sensor is pressed it will depress going from a value of 0 to 1.
         • In the program this sensor will be used to determine whether an object is movable or immovable.
     • Picture of the sensor
   • Colour sensor
     • Reflected light intensity
       • When the sensor is in use the colour of surface will have an assigned PCT value based on the reflected light intensity.
         • This will aid in line following as the PCT will change based on the colour of the path therefore when combining this with the motors the robot can move and follow the path.
     • Picture of the sensor
   • Ultrasonic sensor
     • Function
       • The purpose of this sensor is to detect the distance between an incoming object and the robot.
         • To solve the problem, this sensor will help detect the movable and immovable objects.
     • Picture of the sensor

2. Self-determined Criteria

   • Navigate the entire map
     • In addition to following the path towards the movable and immovable objects the robot will roam the entire map.
       • Requirements
         • The line following code will have to be robust enough to navigate the turns with line-following code.
   • Victory Dance
     • After the objectives have been completed the robot will do a light and sound display.
       • Requirements
         • The robot will have functions to produce light and sound through commands and in the correct order.

3. Resources

   • The LEGO Mindstorms website (education.lego.com).
     • Word of mouth from teachers and parents with knowledge on the topic.
       • The Microsoft Teams that the teacher created will have a lot of information about where the resources for making the solution is located.
   • Digital Solutions Blackboard
     • PowerPoint lessons, e.g Scratch lessons from EV3 lessons
       • The EV3 lessons website has the PowerPoints sorted into different sections depending on the areas of knowledge needed.
         • Robocup workshop files which detail the logic of the code and possible solutions

4. Constraints and Limitations

   • The Map
     • Intersection colours cannot be seen by the colour sensor
       • Since the PCT values of green and black are extremely the robot may not be able to navigate around these areas.
   • Colour sensor
     • The colour sensor is positioned on the right side of the robot.
       • The robot's motors have to be coded a specific way since the robot has a bias of detecting colours on the right.
         • Robot may not be able to navigate over a specific place as the colour sensor does not detect the PCT value from where it is positioned.
   • Parameters
     • Most parameters in the program for sensors and motors have fixed values.
       • Impact on Problem
         • The robot may not be able to perform certain functioned that are most sufficient for the solution as a result.
   • Programming Software
     • The EV3 can only be programmed wiith the commands on the blocks.
       • Impact on Problem
         • Robot has a finite number of functions in can perform so it may not perform to the best of its ability.
   • Ultrasonic sensor
     • Ultrasonic sensor can only detect front distances.
       • Impact on Problem
         • If the robot ever happens to move backward in the path, objects cannot be detected and commands cannot be carried out.

5. Prescribed Criteria

   • PC1 - Follow the Path.
     • Requirements
       • Robot's motors are capable of turning left.
       • Robot's motors are capable of turning right.
       • Robot can follow line with code combining colour sensor and motors.
   • PC2 - Detect and navigate around immovable objects.
     • Requirements
       • Robot is capable of using ultrasonic sensor to detect and incoming object.
       • Robot is capable of using the touch sensor to determine whether the object is immovable through the depression of the sensor.
   • PC3 - Detect and clear movable objects from the path.
     • Requirements
       • Robot is capable of using ultrasonic sensor to detect an incoming object.
       • Robot is capable of using the touch sensor to determine whether the object is movable through the senor not depressing despite the distance.
       • Robot has a coded function to either pick up or push the object away from the path.

6. Code Samples

   • Line following
     • • Uses the PCT value of the colour to follow the lines on the path.
   • Obstacle Detection
     • • Uses ultrasonic and touch sensor to detect and object and judge whether it is movable or immovable for the next commands.

Imágenes y archivos del mapa