1. SnackBot Creator: Chris Shepherd 7/7/05

2. Sensors/Behaviors Regular Regular Bump: Obstacle Avoidance Bump: Obstacle Avoidance IR: Obstacle Avoidance IR: Obstacle Avoidance Photo Reflectors: Line Following Photo Reflectors: Line Following Special Sensor Special Sensor CDS Cell with LEDs: Color Detection CDS Cell with LEDs: Color Detection

3. Sensors Bump – connected to I/O port Bump – connected to I/O port Switch not closed: 5V Switch not closed: 5V Switch closed: 0V Switch closed: 0V IR – connected to ADC port IR – connected to ADC port No hard-coded threshold necessary No hard-coded threshold necessary Calibration routine Calibration routine

4. Sensors Hamamatsu Photo Reflectors Hamamatsu Photo Reflectors Used as digital sensors Used as digital sensors Over black surface: ~ 5 V Over black surface: ~ 5 V Over white surface: ~ 0 V Over white surface: ~ 0 V Will detect intersections Will detect intersections

5. Special Sensor Color Detector Color Detector Uses three LEDs and a CDS cell Uses three LEDs and a CDS cell 5V RBG CDS 220 150 100 27 k

6. Color Detector Data Object Red LED Blue LED Green LED None 130 k 240 k 300 k Red 5.3 k 160 k 130 k Blue 11 k 55 k 190 k Green 10 k 130 k 80 k CDS cell resistance Blue : < 100 k under blue light Green : < 100 k under green light Red: > 100 k under blue and green light AND < 10 k under red light