This assignment requires the use of the Arduino and Robot Shield provided by the department to develop a program enabling a robot to complete an obstacle course. Key features include:
- A 4 cm wide path.
- Obstacles no larger than the robot’s storage box.
- Barcode signs (“start recording” and “stop recording and playback”) with specific dimensions and stripe spacing (4 cm and 8 cm, respectively).
The assignment emphasizes Arduino C programming and robotics application design, specifically:
- Creating data structures for sensor readings and motor commands.
- Effective use of setup() and loop() functions.
- Following defensive programming principles.
- Designing control algorithms (e.g., collision avoidance).
- Testing programs.
- Evaluating robot performance.
- Accurate documentation.
The assignment consists of three major parts:
- Functional Requirements (60% of marks).
- Testing (15% of marks).
- Report (25% of marks).
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Functional Requirements (60%)
This section includes four tasks:
- Working with Light Dependent Resistors (LDRs) – 15%
- Measure and record values from three LDR sensors on black and white surfaces under different lighting conditions.
- Steps:
- On a white surface:
- Record 10 values with room lights on and calculate the mean.
- Repeat in dimly lit conditions.
- On a black surface:
- Repeat the above steps.
- On a white surface:
- Present results as a graph showing relationships between surface colors and lighting levels.
- Line Following and Obstacle Detection – 30%
- Tasks:
- Follow a black line on a white background.
- Detect obstacles, stop, flash an orange LED, and resume when the obstacle is removed.
- Identify and decode “start-recording” and “stop-recording and playback” barcode signs.
- Record movements during “start-recording” for playback without the line after the “stop-recording” sign.
- Robot States – 10%
- Define robot states and indicate them with LEDs:
- Orange LED flashes when an obstacle is detected.
- Red LED stays on during recording.
- Green LED flashes during playback and remains steady after playback completion.
- EEPROM Usage – 5%
- Store calibration values for sensors and actuators in EEPROM for portability across different robots.
- Use the following values:
| Byte(s) | Use |
|---|---|
| 0 | Left servo stop value |
| 1 | Left servo offset for forward motion |
| 2 | Right servo stop value |
| 3 | Right servo offset for forward motion |
| 4-5 | Left LDR value on white |
| 6-7 | Left LDR value on black |
| 8-9 | Center LDR value on white |
| 10-11 | Center LDR value on black |
| 12-13 | Right LDR value on white |
| 14-15 | Right LDR value on black |
Testing (15%)
- Present a testing table in the report appendix summarizing the status of all hardware components.
- Test each component (e.g., push buttons, LEDs, LDRs, IR transmitter/receiver, servos).
- Debug using the Serial Monitor to print informative messages for test results.
- Perform behavior tests, e.g., line-following success rate over 15 trials.
Example: A button variable value changes correctly, indicating a passed test (debounce functioning).
Report (25%)
- Document all tasks, testing, and outcomes accurately, clearly, and concisely.
- Include results, code snippets, and insights to evaluate robot performance.
This structured approach ensures clarity and efficient completion of the assignment tasks. Let me know if you need further assistance!
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