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In order to complete this project in an efficient manner, Dalia and Brenna worked primarily on the communication between the Labview program and the robot as well as the initial left wall following. Brian and Yagna worked on modifying the state machine within code composer to utilize the gripper. Brian sucessfully created the exit criteria for the wall following state which was a huge piece of the project. We all came together at the end of work on debugging the robot and improving the quality of the run.
The robot navigates the course using waypoints and left/right wall following. The robot knows to exit the wall following and go back to finding the waypoints by determing when the waypoints is to the right of left of it depending on which way it is wall following. Using the OpenMV camera, the robot is looking for a large centroid of either orange or purple. When this threshold of color is met, the robot will stop wall following or finding waypoints and collect the ball using the gripper.
The gripper sorts the balls by color using a divider inside of it and the last waypoints of the course are two drop off locations. The robot backs up with the gripper open when these locations are found so it can deposit the correct color in the correct location.
The LabVIEW program displays the following:
1.) the position of the robot in real time
2.) the outline of the course
3.) the waypoints (in green)
4.) when a ball is collected the correct color ball will appear on screen
5.) position at which ball is collected
6.) print out of color in addition to the image
The strategy for the contest was to try avoiding obstacles using right and left wall following with the help of LIDAR which can detect the distance of the obstacle relative to the robot's position. This is vital information for the robot to navigate through the obstacles. The code reads LIDAR's front, left and right outputs and once a certain threshold is crossed the robot is stopped otherwise it will hit the obstacle.
- Robot In-action
- Project Files Zipped Folder
https://drive.google.com/file/d/1rmCZsAJ3o6NRT2QCeaLkrXKzg5swjoxm/view?usp=sharing
- Team Members
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