race reactive autonomous coordinate executor created by: neil javalla dustin torres derrick yanga
TRANSCRIPT
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RACE
Reactive Autonomous
Coordinate ExecutorCreated by:
Neil Javalla
Dustin Torres
Derrick Yanga
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RACE
•Path Programmable
•Avoids Obstacles
•Adaptable
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Schematics
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Programmed Path
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Programmed Path
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Programmed Path
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Programmed Path
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Programmed Path
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Programmed Path
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Programmed Path
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Programmed Path
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Components
Arduino One Speed Control
– Electronic speed controller
Steering Control– Servo
Arduino Two Detects Obstacles
– IR Sensor– Average algorithm
Sends obstacle data to Arduino one
– Wire
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Detecting obstacle
Read IR data "in"
add "in" to running average.remove oldest value of
running average
yes
IS average > threshold ?
Obstacle = true
no_obstacle++
no
Is no_obstacle > 500 ?
no_obstacle = 0obstacle = false
yes
no
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Timing Diagram
•The clock runs at 50Hz
•The speed controller gets sent a signal at the beginning of each clock cycle to determine the speed. We used a signal of 1270us
•Servo also gets a signal at the beginning of each clock cycle and it is variable
•1100us is complete right turn
•1500us is center
•1900us is complete left turn
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Challenges
Surface trouble– On different surfaces the speed varies, which in turn changes the
angle and makes it hard for our car to be surface independent Servo trouble
– The servo was not exact and created a drift making it hard for the car to go straight
IR sensor trouble– Erroneous values can through off the sensing of objects
Battery trouble– Even with voltage regulators, a dieing battery will change the
current through our circuit, inevitably causing a change in speed