Lego Robots in a Maze

Yuwon “The Prize” Moon

Seth “Capt. Planet” Wheeler

Mitch “Thriller” Jackson

Michael “Whiteboard Guy” Penney

Team Condi Rice

Design a robot using a given set of tools able

to traverse a maze in under four minutes and perform a specified task

Size Restrictions

Time Constraints

Problem, officer?

LEGO Mindstorms Kit

Two touch sensors One sonar sensor One color sensor Three motors

NXT 2.0 Programming GUI

Team Condi Rice

Tools

Tasks were divided based on previous

experiences and personal strengths.

Group brainstorming sessions detailed the project top to bottom before beginning construction or programming

Task Division

Organization/Execution

Penney

Function Design and Conceptualization Collaborative

Progress Recording/Classwork Seth, Yuwon

Robot Construction Penney

Programming Mitch, Penney

Testing and Debugging Yuwon, Seth, Mitch

Task Division

Two primary design principles 90 Degree Angles

PROS Increased reliability for the given problem Easier to predict robot location Minimize unknowns

CONS Reduced versatility Every conceivable situation had to be accounted

for

Where do we start?

Predict unknown conditions using known ones

PROS Variety of situations responded to with fewer

actions Coding simplicity

CONS Sometimes predictions will be wrong

Where do we start?

Forward linear motion until action required Front wall bump detection Ranged side wall detection Right angled turns Center mounted color sensor Ball drop assembly near color sensor Stability and low center of gravity

Smaller Design Goals

The Condi Rice

Why?

Point A to B

Why linear? Design goals

Design History

Product

Design Issue 1: Forward Motion

Design Issue 1: Forward Motion

Design Issue 1: Forward Motion

Why?

Environmental variable

When wall was hit

Why on the front? Design goals

Design History

Product

Design Issue 2: Hit Detection

Design Issue 2: Hit Detection

Design Issue 2: Hit Detection

Design Issue 2: Hit Detection

Why?

Maze traversal

Why sonar detection? Design goals

Why on the left? Detect proper path

Conceptual Success Unchanged throughout process

Product

Design Issue 3: Turning

Design Issue 3: Turning

Design Issue 3: Turning

Color Sensor

Why? Primary goal

Why centered? Design goals

Product

Design Issue 4: Task Performance

Design Issue 4: Task Performance

Drop Assembly

Center aligned, controlled drop

Reasons for mounting position

Product

Design Issue 4: Task Performance

Design Restrictions

Why? Stability

Triple Jointed Structure

Product

Design Issue 5: Frame Assembly

Problem 1: Distance of target drop from wall

Problems Encountered From Design Shortcomings

What is it?

Target drop not aligned with wall Condi Rice designed to hug wall

Why? Misrepresentation of initial problem

How was it solved? Reverse code Detailed alignments

Results Unintended positive effects

Problem 1: Distance of target drop from wall

Problem 1: Distance of target drop from wall

Problems Encountered From Design Shortcomings

Problem 2: The Loop

What is it?

No walls on either side of robot yields left turn

Why? Initial assumptions

How was it solved? Counting code

Problem 2: The Loop

Problem 2: The Loop

Problem 2: The Loop

What is it? No walls on either side of robot yields left turn

Why? Initial assumptions

How was it solved? Counting code

Results Successful Greatly increased versatility

Multiple successful runs through maze with

fastest time of 0:36

Failure to deploy clay ball on all attempts

How did Condi fare?

Designed for right angled maze with ample

berth

Unguarded areas susceptible to catching on walls

Additional complexity unwieldy to program due to instability of NXT GUI

Potential Problems

DAS ENDE