Task

Task

1. EV3

   • Sensors
     • Ultrasonic Sensor
       • The Ultrasonic sensor is a digital sensor that can measure the distance to any object in front of it
         • The ultrasonic sensor has 2 modes
           • Measure mode: This is the main/default mode of the sensor. This mode can measure the distance to an object in front of it using Ultrasonic waves.
           • Presence mode: This mode can detect another Ultrasonic Sensor operating nearby. This mode can detect signals but not send them
     • Touch Sensor
       • The touch sensor is an analog sensor that can detect when the sensor's red button has been pressed or released.
         • The data type is 0 (unpressed) or 1 (pressed)
     • Colour Sensor
       • The colour sensor is a digital sensor that detects the color or intensity of light that enters the small window on the face of the sensor
         • Colour mode: the colour sensor can differentiate up to seven different colours: black, blue, green, yellow, red, white, and brown. Each colour is also represented by a value
           • The data is in colours
           • Used to detect multiple colours
         • Reflected light mode: The colour sensor emits a red light and measures the amount reflected back into itself from the surface you are testing. The intensity of the light is measured as a percentage from 0 to 100, with 0 being very dark, and 100 being very bright.
           • The data type is 0-100
           • Used specifically for black and white detection
         • Ambient light : the colour sensor measures the amount of light in its environment, without producing its own light source. Ambient light intensity is measured as a percentage from 0 to 100, with 0 being very dark, and 100 being very bright.
           • The data type is 0-100
           • Used for indepth measuring of colours
     • Gyro Sensor
       • The gyro sensor is a digital sensor that detects the rotational motion of the robot on a single axis
         • The data type is rotational degrees
   • Ports
     • The Letter ports
       • The letter ports are four ethernet ports labeled from A to D.
         • If the ports aren't assigned through a computer, the ports are automatically assigned to the motors and actuators
           • Port A: Medium Motor
           • Port B & C: Two Large Motors
           • Port D: Large Motors
       • These ports are located at the top of the EV3 Brick. The letter ports are used for the motors and actuators.
     • The Number ports
       • The Number ports are four ethernet ports labeled from 1 to 4.
         • If the ports aren't assigned through a computer. The Ev3 brick automatically assigns the ports to specific sensors.
           • Port 1: Touch Sensor
           • Port 2: Gyro Sensor
           • Port 3: Colour sensor
           • Port 4: Ultrasonic Sensor
       • These ports are located at the bottom of the EV3 brick. These number ports are used for the sensors
   • Motors
     • Large Motor
       • The Large Motors is the most powerful of the motors and is normally used to rotate the wheels of any build
       • The Large Motor has a built-in Rotation Sensor with 1-degree resolution
       • The Large Motors can be programmed to work together or in unison
     • Medium Motor
       • The Medium Motor is a smaller and lighter motor, but it responds quicker than the large motor
       • The Medium Motor has a built-in rotation sensor with 1-degree resolution

2. Constraints

   • EV3 Constraints
     • The build cannot be altered
       • The educational build is used for this task. The educational build uses two large actuators for the wheels, has one touch sensor on the front left, has an ultrasonic sensor in the front and a colour sensor on the front right
         • The build only has one colour sensor. This limits the possibilites and increases the difficulties of the task.
     • Connection issues
       • Occasionally, the EV3 robot can't connect to the device through bluetooth and can only connect through a cable.
         • Using a cable only slows down the speed of the project because when a change is made to the code, you have to download every iteration of the code to the robot
   • Software Constraints
     • Visual Programming
       • Visual programming is limited to the amount of functions it has
       • Visual programming can easily get crowded and you spend more time rearranging the code rather than making more code
       • Visual Programming tends to get larger and more unorganized

3. Possible Solution

   • First Solution
     • Use simple line following algorithm with object detection
       • The robot turns right when it detects white and left when it detects black. The result is a zigzag-patterned line following with adequate turns
         • Pros
           • Easy to code
           • Easy for others to understand
           • Less debugging of code
         • Cons
           • Inefficient
           • Moves in a zigzag pattern
           • Can be very slow
       • When the robot sees an object, it will start an algorithm that moves around the object then continues the path
         • Cons
           • Doesn't know how to move an object out of the way
           • Cannot continue line following if it detects another object while completing the object detection algorithm
         • Pros
           • Easy to code
           • Easy for others to understand
           • Less time consumption
           • Less debugging of code
   • Second Solution
     • Use PID line following with upgraded object detection
       • Uses Proportional control with added integral and Derivative values to make the robot follow the line in a much more smoother way
         • Pros
           • Improved line following
           • Efficient
         • Cons
           • Hard to code
           • Hard to understand
           • Lots of debugging
       • Uses Object detection with the ability to determine whether the object is moveable or not and proceeds to move the object if moveable or navigate around it if not moveable
         • Pros
           • Improved object detection
           • More options when detecting an object
         • Cons
           • Hard to code
           • Difficult to implement into PiD line following

4. Criteria

   • Prescribed Criteria
     • Follow the Path
       • The ability to be able to follow a designated line
     • Navigate around objects
       • The ability to detect any object and either move around it or push the object out of the way
     • Complete the full path
       • To be able to move from point A to point B by following the full path
   • Self-Described Criteria
     • Stay on the map
       • To be able to stay on the map without having to go of the mat