I

N
D
E
X
THE HARDWARE
THE LOGIC
THE ALGORITHM
THE FLAG
THE END ZONE
THE CRATER
THE HARDWARE
COMPONENTS USED
1 x iPitara brick
1 x base
2 x motors
2 x L- brackets
2 x axle adapters
1 x castor clamp
1 x castor wheel
1 x seven hole strip
4 x 5 hole bent strip
5 x rj45 cables
3 x IR sensors
Xnuts and screws
THE LOGIC
WHITELINEAVOIDER
ARESBOT ( named after the greek god of war )
basically avoides the white line.We placed IR sensors
on either side of ARES. As soon as a sensor detects a
white surface,it turns away from it.So if the right
sensor detected a white surface,it will turn away from
it towards the right and vice versa.
Next we coded a special condition for when both
sensors detect white, which is quite necesoryfor
avoiding the crater. We programmed it such that
whenever IR detects a white surface on both of it's
sensors , it turns right ( because thats the direction of
turns round the crater) .An advantage of this
approach is we didnt have to do any programming for
the blind patch,which would have been necesory if
one of the sensors was following white.
Now we'll discuss the unique programming for each
part of the track in detail
THE ALGORITHM
CONDITIONS
look for conditions below
turn right for 300 ms
turn left for 225 ms
turn right for 400 ms
move straight continuously
1) beep
2) move backwards for 2 seconds
3) turn right for 500 ms
4) reverse for 3 seconds
5) wait 3 seconds
6) move forward 6 secondsand stop
THE FLAG
in order to hoist the flag,an IR sensor on the flag had to be
triggered .to activate the mechanism ,we wrapped a layer
of aluminium foil around ARES to act as a reflector .this
step was necessory as most of our bot is black ,plus the
distance of 8 inches does not work for us....
COMMUNICATION LINK
n order for this stepto be completed successfully,we had to
carefully calibrate the time and place of the bot during the
testing so that it would turn the lever by 60 degrees. this is
the only place where the programming is not foolproof.
avoiding the crater was a comparitively easy task.wejust
had to add one more lineof tothe programming whereboth
the sensors read white.that way on whenever it encounters
a turn with both sensors reading white,it turns right.it
required a little more fine tuning though.
THE CRATER
stock deposition was not a big challenge as it incorporated
the same programming as of the communication link zone
STOCK DEPOSITION
THE ROCK
THE END ZONE
Ares has a IR sensor built in front of
it to detect the rock.As soon as the
rock is detected,it activates it's
sepcial serious of moves
Due to the specified distance
between sample zone and end zone,,
also taking into account the varied
colour patterns on the ground,we
decided to go with a timed approach