Progress

November 11, 2017:

Made a track wire detector
Currently has no filter, but waiting on motors to determine which frequencies to filter out (~40kHz)

Track Wire sensor (11/11)

November 15, 2017:

Built a prototype of our chassis (V2.0)
New modifications since last model:
- Better support for bottom layer with X-beam supports
- Added U-Locks to secure layers together while being able to take chassis apart easily
- Made hole to secure ball bearings smaller (-0.5 mm diameter)
- Modified servo mount
- Made battery holder wider
Needed modifications:
- Make hole to secure ball bearings even smaller (-0.5 mm diameter): DONE
- Make second servo mount part (back side) larger to fit servo in: DONE
- Make servo mount holes for U-locks taller (~0.05 mm each side): DONE
- Change layout of tape sensors (3 in middle, two along center vertical line of base): DONE

November 18, 2017:

Made a prototype of our "launching" mechanism for getting the ping pong balls through the ATM-6 targets
The ball slides down a slope, with a servo blocking it
Servo turns a wheel with a gap which brings up and around a ping pong ball, letting it through

November 20, 2017:

Designed and soldered the perfboard for our tape sensors and our beacon detector
Beacon detector works perfectly, however tape sensor needs to be tested still
Also soldered on wires to each tape sensor for easy wire management
Track Wire Detector still needs to get soldered

November 21, 2017:

Made another prototype of our robot, this time on MDF (V3.1)
New modifications since last model:
- Make hole to secure ball bearings even smaller (-0.5 mm diameter): maybe make even smaller
- Make second servo mount part (back side) larger to fit servo in
- Make servo mount holes for U-locks taller (~0.05 mm each side): maybe too tall, but should be fine
- Change layout of tape sensors (3 in middle, two along center vertical line of base)
- Added holes on second layer for wires to go through
- Added screw holes to mount H-Bridge and UNO stack
- Added slots to place ball launcher in (sits on second layer and extends up to third layer)
Needed Modifications:
- Make ball bearing holes even smaller (change to 23.7 mm diameter): DONE
- Rotate UNO stack since it interferes with our ball launcher: DONE
- Modify the main servo and extend it forward and move it closer to the middle cutout of the third chassis level: DONE
- Move motor mounts more outwards since it doesn't align correctly with bot: DONE
Misc:
- Got wheels and motors working and mounted onto bot
- H-bridge and UNO stack are also mounted
Note:
- Don't need to cut out more supports except for first level ones
- Remember to do foamcore cuts soon
- Remember to print with the right component facing upwards

IMG_7285.MOV

November 27, 2017

All sensors are completed and implemented on to the bot
- A few tape sensors were faulty but replacements were quickly built and tested
Robot can now drive with all functions made through a robot library (dubbed Robo.h/.c)
Budget sheet is now finalized and uploaded on site (here)

20171127_180526.mp4

TapeSensorReadings.mp4

track_wire_driver.mp4

From Top left clockwise: Beacon detector test (red LED on uno indicates a received signal), Tape Sensor readings on printed out, all of them show similar readings when on tape and when on the floor (except for the faulty ones mentioned earlier), track wire driver test (Red led indicates received signal)

IMG_7296.MOV

IMG_7295.MOV

LEFT: Servo Board RIGHT: Bumpers

December 2, 2017

Tape Following, bumper detection, track wire, and side shooting has been integrated.
Side shooter has new bridge mechanism (see below)
ATM6 portion of state machine implemented and undergoing edge case testing
- Perceived problems:
  - Corner cases may be a problem, but with our bridge implementation and our dynamic track wire sensor, it should be doable.
  - Adjustments may need to be taken for corners
  - Backup routine when finding target may need refinement for corner cases in order to avoid falling off arena
Still need to do
- Have "Targets hit" countdown and test that it reliable works (Probably will use LEDs for this test)
- Implement Beacon detector, both for beginning and final targeting
- Refine Ren ship targeting
- Adjustment testing for long arm (requires a back up after centering due to large size)
  - May create separate project for Ren ship testing and integrate into final project. Need a whole day and then some for integration.
Persistent problems
- Side shooter every so often will jam and/or not reset to the proper position
  - Will probably be fixed in the updated version of it
- Tape sensors will "turtle" into their holes on the bottom of the bot
  - Should be able to fix with tape to make a friction fit
  - Problem not detrimental. Only makes line following look really awkward

ATM6_targets.mp4

Side shooter (video will be uploaded tomorrow (12/3)) ATM6 portion implemented

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