Post on 13-Dec-2015
transcript
Bender the Offender
Final Presentation
Chris Wells
Overview
Bender will look for two specific colorsSeeing Red will make Bender want to run
awaySeeing Blue color will make Bender
aggressiveBender will also be able to seek out dark
hiding places
Collision Avoidance
2 Front-Mounted Sharp IR SensorsEach sensor’s value is the avg of 10
measurements
Movement via 2 hacked servosExample of movement function:void left_stop()
{
if (LEFT_SPEED > LEFT_STOP)
LEFT_SPEED += -2;
}
Light/Dark SeekingArray of Photo-resistors on topWhen Bender is in seeking mode, data
from the photo-sensor supersedes collision avoidance
while(1)
{DARK_FOUND = 0;if (HIDE_STATE)
DARK_FOUND = light_sensor();if (!DARK_FOUND)
collision_avoidance();}
Special Sensor
Front-Mounted CMU CameraIdentify and react to seeing blobs of Red
or BlueFirst look for Red blob
If found, Bender will stop looking and runIf not found, check for Blue blob
If this color is found Bender will attack
Special Sensor
Code for the CMU CameraSend the following via serial interface to
the CMUSend “TC 150 255 0 30 0 30\r” If a value is picked up go into run/hide modeIf not, send “TC 0 30 0 30 150 255\r” If a value is picked up, turn Bender based on
X value returned.
Current Form
Future Work
Mounting and coding the photo-sensorsTracking for the CMU cameraActuation – have a servo activate based
on CMU dataMisc body work – not just rely on glue and
tape to hold everything together