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Team 6 Milestone 3

Team 6 Milestone 3. Matt Bouchard, Paras Metha, Andrew Butcher. Overview. What We Won’t Talk About Specific tasks Most approaches were similar. What We Will Talk About Light Sensor Configuration Electrical physical set-up Line following changes Battery Bumper Buzzer Results Future.

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Team 6 Milestone 3

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  1. Team 6Milestone 3 • Matt Bouchard, Paras Metha, Andrew Butcher

  2. Overview • What We Won’t Talk About • Specific tasks • Most approaches were • similar • What We Will Talk About • Light Sensor Configuration • Electrical physical set-up • Line following changes • Battery • Bumper • Buzzer • Results • Future

  3. Light Sensor Configuration • Three sensors, angled instead of parallel • 15cm high, 13.5º spread of sensors • Allows a larger field of view when detecting whether lights are on or off

  4. Physical Setup of Electrical Components • Too many uninsulated wires • Too great a chance of short circuit at LED level Bender: Milestone 2

  5. Physical Setup of Electrical Components • Less chance of short circuit • Easier placement of sensors • Easier connection of large number of sensors (seven) • Fun-tac used to hold sensors in housing

  6. Battery Problem • Four days lost because of intermittent resetting of the NMI board • Slow-blow fuse partially blown • Code that left values on the stack • “Cooked” battery • All lead to problems that reset the board

  7. Bumper • Originally mounted too low • Required due to missing mounting bracket • Supported by a loose wooden block

  8. Buzzer • Problems connecting the buzzer • DDRD must be set (so that Port D pins are appropriately used for output) • Port D pins 0 and 1 are used for the serial port • Thanks to the Dogs Of Thunder for supplying the transistor and the know-how.

  9. Code • State based • Required meeting one task before the next could begin • Unable to recover from errors • Loop { • On Marker • Enter State • Perform “canned” series of movements • Change state to reflect completion • }

  10. Failure…? • Completed one full lap of the track during the first part of evaluation • In point-based test, failed to complete one lap, leaving us in last place (300 points) • Uncertain why system suddenly failed • Happened twice in the same place, gives us something to look into • Lesson: • Expect it to happen from time to time • Build system robust enough to deal with such errors and continue

  11. Future Plans • Analog multiplexer • Many sensors are currently being used • Only one port E pin remaining • Rewiring • Simplify wiring setup • Rethink Benders Design • Too much “just make it work” due to time constraints

  12. Future Plans • Robust Code • As suggested by Chris Parker • “Luxuries” • Items not yet implemented that would have been if more time had been available • Reset Switch • Motor/Sensor power switch • Missile Launcher

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