1. Overview of Project 1 Slides are available at : http://www.pages.drexel.edu/~mjm46 Report due next week http://www.pages.drexel.edu/~mjm46 Matthew Murach

2. Project 1: Obstacle Navigation For this project, you are developing and designing a maze solver to navigate though a few obstacles. For this project, you are developing and designing a maze solver to navigate though a few obstacles. Walls will be placed at random lengths. However they will always be placed in a horizontal or vertical position. Walls will be placed at random lengths. However they will always be placed in a horizontal or vertical position. If your design is correct your machine will traverse the course without touching an object. If your design is correct your machine will traverse the course without touching an object.

3. Project 1: Obstacle Navigation For this project your code should use either the shaft encoder or time functions to execute a π/2 turn. The sonar should be used for object avoidance. For this project your code should use either the shaft encoder or time functions to execute a π/2 turn. The sonar should be used for object avoidance. Slower is better for turn accuracy. Slower is better for turn accuracy. See old lectures for more details on timing functions. See old lectures for more details on timing functions. Feel free to ask questions Feel free to ask questions

4. Project 1: Functions The following steps are needed for this project The following steps are needed for this project Turn functions along with calibration features Turn functions along with calibration features A Forward function that uses sonar( ) to indicate an obstacle is present. A Forward function that uses sonar( ) to indicate an obstacle is present. A distance function (need to know when you are at the objective point) A distance function (need to know when you are at the objective point) Optional (but very useful later) Optional (but very useful later) Internal Compass and Grid Navigation Internal Compass and Grid Navigation

5. Project 1: Sample Run Goal: Go to the opposite side, turn and come back (without hitting walls). Total Distance Stopping Distance

6. Project 1: Constraints No backwards function is needed though it may be useful. No backwards function is needed though it may be useful. No dead ends will be present (do not have to backtrack on each pass) No dead ends will be present (do not have to backtrack on each pass) Must get to the other side and return in an reasonable manner Must get to the other side and return in an reasonable manner No wandering aimlessly No wandering aimlessly No needless backtracking No needless backtracking

7. Project 1: Procedure First calibrate all turning and distance times… First calibrate all turning and distance times… Make use of persistant globals (see ECE-C304 notes) Make use of persistant globals (see ECE-C304 notes) This is done with no obstacles present. This is done with no obstacles present. Step 1: go down the course and come back first with no obstacles Step 1: go down the course and come back first with no obstacles Step 2: go down course with one obstacle in the middle Step 2: go down course with one obstacle in the middle Step 3: go down the course with many obstacles. Step 3: go down the course with many obstacles.

8. Project 1: Report This project will require the following. This project will require the following. Each design team consisting of 2-3 students should submit a 2-3 page report detailing the design (not including C files). Pictures and graphs count toward this requirement and are encouraged. Each design team consisting of 2-3 students should submit a 2-3 page report detailing the design (not including C files). Pictures and graphs count toward this requirement and are encouraged. In addition, all C files needed for this project should be well commented and readable. In addition, all C files needed for this project should be well commented and readable. Also each team will be required to show that the design works by illustrating the robot can navigate the obstacle course successfully. Also each team will be required to show that the design works by illustrating the robot can navigate the obstacle course successfully.