Embedded Files
December 6, 2017
Software
- Migrated FSM logic to a HSM
- Increased motor speeds and adjusted timers accordingly to speed up tape following
- Added obstacle collision detection and avoidance algorithm
- Fixed ball shooter reloading algorithm by adding interval states during the reloading process to slow it down
- Developed additional drivers for the front track wire sensor and proximity sensors
- Added service routine to rush the bot towards REN and align itself onto the boundary tape within the first 15 seconds of the map
- Added service routine to find REN target after beacon turns on and attack it once found
- Added service routine to position itself in parallel with ATM6 target when front track wire event goes off
- Added service routine to help align shooter platform with the REN target hole based off events received from proximity sensors (placed on both sides of the ball holder)
- Implemented emergency default timer to prevent bot from getting stuck in any state
Electrical
- Debugged inductive track wire sensors and beacon detector. Resoldered joints that seemed to be disconnected.
- Soldered a second track wire circuit to increase precision and accuracy of ball shooter.
- Soldered an additional 3.3V power distribution board for the newly added proximity sensor modules
- Added proximity sensor modules to each side of the ball holder to help align with the REN ship target
November 29, 2017
Software
- Implemented tape following algorithm
- Added service routine to position bot in ‘attack mode’ upon receiving a track wire event
- Added service routine to reload shooter platform while in ‘attack mode’
- Encompassed events and services framework into a FSM
Electrical
- Debugged inductive track wire sensor. Soldered joints that disconnected after applying hot glue to perfboard.
- Designed and soldered additional 5V for servos and additional 3.3V power distribution boards
- Added bumpers onto mechanical design with limit switches
November 22, 2017
Software
- Developed drivers for sensors encompassing optical sensors, inductive track wire sensor, beacon IR sensor
- Developed drivers for RC servos for reloading and ball shooting
- Developed drivers for motors
- Developed test harness for sensors and motors
Electrical
- Designed and soldered 3.3V power distribution boards as a power source for sensors
November 15, 2017
Software
- Began driver development for motors and servos
- Second revision of FSM/HSM
Electrical
- Finalize tape sensor electrical design and layouts
November 8, 2017
Software
- Rough draft design of FSM/HSM
Electrical
- Design and layout inductive track wire sensor conditioning circuits
- Design and layout IR beacon detector conditioning circuit
- Rough draft design and layout of optical tape sensors
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