RoboLab Team #8 University of Central Oklahoma Intro to Engineering October 21, 2003 By: Sanjeeb Basnet Jason Bierman Miriam Kebaya Bob Searles

The Code

The Robot

The Initial Algorithm November 14, 2003 Introduction to Engineering Homework #6 Preliminary Robot Guidance Instructions {Set the robot straight along the black tape track with sensor directly over black tape} BEGIN Set Tires =0 {degrees} Set Vel=0{m/s} Set ReadTimer=.05 {Timer in Seconds interval} Set Stop=false{While traversing the track the operator has the option to stop the vehicle by setting the operator option Stop=True, specifically at the end of the course.} Light Sensor=LS Read LS Set LS=True Set Vel=.01 {m/s} WHILE Stop=False, Read LS IF LS=False Set Tires=10 {degrees} Read LS IF LS=False AND Stop=False Set Tires=20 {degrees} Read LS IF LS=False AND Stop=False Set Tires=-20 {degrees} N=0 FOR N<(20*Read) Read LS IF LS=False AND Stop=False N=N+.05 ElseN=(20*Read) End Else Set Tires=0 {degrees} End Set Vel=0{m/s} END

How the Code Works  From the begin.vi the code will read the value of the sensor light.  If the value is <= 44 the robot will continue forward straight along the line while sampling the light sensor every 1/100 second.  If the value is > 44 the robot goes into a series of search loop while sampling the light sensor every 1/10 second.  The First search loop executes twice to the left.  If it finds the line it jumps (green jump) back to the beginning of the code.  If it does not find the line it moves forward to the second search loop.  The Second search loop executes 4 times to the right.  If it finds the line it jumps (red jump) back to the beginning of the code.  If it does not find the line it moves forward to the third search loop.  The Third search loop executes 10 times to the left.  If it finds the line it jumps (red jump) back to the beginning of the code.  If it does not find the line it moves forward to the third search loop.  The Fourth search loop executes 8 times to the right.  If it finds the line it jumps (red jump) back to the beginning of the code.  If it does not find the line the code runs to the end of the program where it jumps (white jump) to the beginning of the code where it will begin the series of search loops again from a different starting position.

Performance Expectation  The code should perform moderately well on any single line track whose turning angles do not exceed 110 degree.  On tracks with > 110 degree turns, the code should function moderately well except that it may take awhile to find the track on the >110 degree turn.  There is also the possibility that the robot will not recover the track if the turn angle exceeds 110 on the CCW orientation to forward. This is because of the shorter sampling rate in the fourth search loop.

What would make it better  More teamwork  More availability of computers with the Lab View RoboCode software  More then one programming manual