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Secretary of State Machines

Explore examples of compressed gas, flywheel, and catapult launchers used by robots with IR floor sensors and ultrasonic sensors for navigation. Learn about the hardware, motion planning, and localization techniques involved in robot navigation. Follow a step-by-step guide to achieve precise ball shooting and navigation tasks.

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Secretary of State Machines

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  1. Secretary of State Machines Emanuel Mendiola, Bayian Yahya, Adam Desmuke, Chenyao Yu

  2. Ball Shooting Mechanisms Example of compressed gas ball launcher Example of flywheel ball launcher Example of catapult

  3. Ball Shooting Mechanisms Catapult Launching Mechanism Compressed Gas Launcher Flywheel Launching Mechanism

  4. IR Floor Sensors Navigate along the black tape Ultrasonic Sensor Determine distance from towers Way to cross-reference perceived location from tape navigation $2.50 model has a resolution of 1cm and a working range from 2cm-500cm IR Beacon Sensors Used for localization in the Safe Space Small range (max of ~80 cm for $10 model) Robot Navigation Hardware

  5. Motion Planning • Localization • Rotate 360° to determine direction of the IR beacon, use sonar to orient itself perpendicular to the wall. • Turn around and find 3-way tape intersection. • Line up the shot: • Follow tape until centered at the 4-way intersection. • Turn left, move forward until the end of tape. • Shoot ball until 25% duty cycle. • If first criterion is met, back up to 4-way intersection, turn right. • Repeat Part 2 until second criterion is met. • If it runs out of balls, return to safe space.

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