Robomagellan 2012 Build Diary - Day 44 - The Night Before the Competition

[eric gregori]

Days 1 - 7

http://buildsmartrobots.ning.com/profiles/blogs/robomagellan-2012-b...

Days 8 - 16

http://buildsmartrobots.ning.com/profiles/blogs/robomagellan-2012-b...

Days 17 - 27

http://buildsmartrobots.ning.com/profiles/blogs/robomagellan-2012-b...

Days 28 - 34

http://buildsmartrobots.ning.com/profiles/blogs/robomagellan-2012-b...

Days 35 - 41

http://buildsmartrobots.ning.com/profiles/blogs/robomagellan-2012-b...

Day 42

http://buildsmartrobots.ning.com/profiles/blogs/robomagellan-2012-b...

Day 43

http://buildsmartrobots.ning.com/profiles/blogs/robomagellan-2012-b...

The Competition is Tomorrow at Morraine Valley Community College!!!

 

http://www.chibots.org/?q=node/1799

Moraine Valley Community College
http://www.morainevalley.edu/ 
9000 W. College Pkwy.
Palos Hills, IL 60465-2478 
 [phone]
August 4th, 2012: 1 - 4:00 PM, center quad
 

http://www.morainevalley.edu/gen_info/documents/campusmap.pdf

 

The Robot Kinda-Sorta works.  Each subsystem has been individually tested, they all work.  All the subsystems are integrated together by a piece of software called the "Executive".  The "Executive" is a state machine that takes in data from all the sensors and creates an output vector (velocity and steering angle).  The state machine is not completely tested.  

 

I tested the ultrasonic integration in the state machine.  The robot is correctly detecting objects (I calibrated the ultrasonic range finders today) and steering around them or reversing.

 

The robot is also tracking bearings using the compass correctly.

 

I still need to complete the vision system integration testing and the GPS integration testing.  This will be done tomorrow morning - hopefully.

 

The cable wrapped around the back of the robot is a leash.  I use it to keep the robot from taking off.  It's my "safety stop".

 

 

[eric gregori]

you can find the source code for the Robomagellan robot here: http://buildsmartrobots.ning.com/group/source-code-for-projects

[eric gregori]

[eric gregori]

GPS + Compass + Ultrasound + Executive = "Executive Processor"

MSP430: Program loaded. Code Size - Text: 4128 bytes  Data: 120 bytes

[eric gregori]

[eric gregori]

Power-up Sequence

1) Ultrasonic Power + Tie Wrap

2) Compass/GPS Power + Tie Wrap

3) CPU Power

4) Motor Power