1. Overview of Project 3: Phase A Slides are available at : http://www.pages.drexel.edu/~mjm46 Report for all phases due last day of class http://www.pages.drexel.edu/~mjm46 Matthew Murach

2. Project 3A: Ball Capture For this project, you are to capture/release a number of ping pong balls located on the course. This requires the following For this project, you are to capture/release a number of ping pong balls located on the course. This requires the following Grapple Arm – Capture ping pong ball Grapple Arm – Capture ping pong ball Smart Navigation – Project 2 Smart Navigation – Project 2 Grapple Arm Control Protocol Grapple Arm Control Protocol If your design is correct your machine will find/capture the ping pong ball and “shoot” it into the starting position’s goal. If your design is correct your machine will find/capture the ping pong ball and “shoot” it into the starting position’s goal.

3. Project 3A: Obstacle Navigation For this project the maze navigation in project 2 should be used on the maze. For this project the maze navigation in project 2 should be used on the maze. This project will not have any obstacles present in the course. This means that a good navigational system is all you need to stay in the course. This project will not have any obstacles present in the course. This means that a good navigational system is all you need to stay in the course.

4. Project 3A: 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 object (ping pong ball) is present. A Forward function that uses sonar( ) to indicate an object (ping pong ball) is present. Capture( ) – initializes grappler arm note this is a good place to use IR Capture( ) – initializes grappler arm note this is a good place to use IR Shoot( ) – instructs robot to lift arm/backup and move forward very fast and stop. Shoot( ) – instructs robot to lift arm/backup and move forward very fast and stop. Internal Compass and Grid Navigation Internal Compass and Grid Navigation

5. Project 3A: Sample Run Goal: Go to the opposite side, turn and come back (without hitting walls). Total Distance N/S Total Distance E/W

6. Project 3A: Run Procedure Robot will start near the goal facing the other green area. Robot will start near the goal facing the other green area. Robot will do the following: Robot will do the following: Find the ball Find the ball Capture the ball Capture the ball Return to base Return to base Shoot the ball Shoot the ball Pull a 180 degree turn, stopping in the original starting position. Pull a 180 degree turn, stopping in the original starting position.

7. Project 3A: Sample design Trap procedure Trap procedure Use sonar( ) to find the sphere “red arrow” Use sonar( ) to find the sphere “red arrow” Slowly approach target Slowly approach target Use IR(s) to trigger trapping mechanism “green arrow” Use IR(s) to trigger trapping mechanism “green arrow” Note IR beam is tripped by the ping pong ball “yellow arrow” Note IR beam is tripped by the ping pong ball “yellow arrow” IR instructs grappler arm to swing down IR instructs grappler arm to swing down IR instructs motors to stop IR instructs motors to stop Note sonar( ) distancing is now unavailable Note sonar( ) distancing is now unavailable Grappler arm is up S1 S2 Grappler arm is down

8. Project 3A: Other Considerations Note that the ping pong balls will be placed on risers. Namely the small axle stops that are currently glued on the course. Note that the ping pong balls will be placed on risers. Namely the small axle stops that are currently glued on the course. You will need to ensure that proper clearance is maintained so that the robot doesn’t get caught in it. You will need to ensure that proper clearance is maintained so that the robot doesn’t get caught in it. The location of the ping pong balls will also be centered will respect to E-W to ensure that this effect is minimized. The location of the ping pong balls will also be centered will respect to E-W to ensure that this effect is minimized.

9. Project 3A: Report This project will require the following. This project will require the following. Each design team consisting of 2-3 students should submit a lengthy report detailing the design (not including C files). Pictures and graphs count toward this requirement and are encouraged. Note that the final report will include all phases of project 3. Each design team consisting of 2-3 students should submit a lengthy report detailing the design (not including C files). Pictures and graphs count toward this requirement and are encouraged. Note that the final report will include all phases of project 3. In addition, all C files needed for this project should be well commented and readable and submitted with the report. In addition, all C files needed for this project should be well commented and readable and submitted with the report. Also each team will be required to show that the design works by illustrating the robot can successfully capture the ping pong ball. Also each team will be required to show that the design works by illustrating the robot can successfully capture the ping pong ball.