Penny Drop

Introduction

For this task, we had to do a number of thing. When the penny drop area was detected, we had to:

Rotate 90 degrees.
Find the edge of the paper.
Travel a certain distance from the edge of the paper
Drop a penny
Turn back around and re-aquire the line

Code

void PennyDrop(int cm) {

  long now = millis();

  Stop(0);

  delay(300);

  //back it up, just back it up

  leftMotorSpeed=-leftMotorDefaultSpeed/1.3;

  rightMotorSpeed=-rightMotorDefaultSpeed/1.2;

  Forward(0);

  leftTick=0;

  while(leftTick<10 && !lost);

  if (lost) return;

  Stop(0);

  delay(300);

  //turn to face penny drop

  leftTick=0;

  leftMotorSpeed=leftMotorDefaultSpeed/1.3;//*0.64;

  rightMotorSpeed=-rightMotorDefaultSpeed/1.3;//*0.8;

  Forward(0);

  while(leftTick<14 && !lost); //is 90ish degrees

  if (lost) return;

  Stop(0);

  delay(500);

  //line up with edge of paper

  leftMotorSpeed=leftMotorDefaultSpeed*0.69;

  rightMotorSpeed=rightMotorDefaultSpeed*0.8;

  Forward(0);

  while(digitalRead(LineSensor)==LOW || digitalRead(PaperSensor)==LOW); //find edge of paper

  Stop(0);

  //if either sensor is off the paper, back up until it is just on the edge of the paper

  if (digitalRead(PaperSensor)==HIGH) {

    rightMotorSpeed=-120;

    leftMotorSpeed=0;

    Forward(0);

    while (digitalRead(PaperSensor)==HIGH && !lost);

    if (lost) return;

    Stop(0);

    delay(500);

  if (analogRead(PaperSensor2)>30) {

    leftMotorSpeed=120;

    rightMotorSpeed=0;

    Forward(0);

    while(analogRead(PaperSensor2)>30 && !lost);

    if (lost) return;

    Stop(0);

    delay(500);

  //drive distance inputted at beginning

  leftTick=0;

  leftMotorSpeed=leftMotorDefaultSpeed*0.75;

  rightMotorSpeed=rightMotorDefaultSpeed*0.8;

  Forward(0);

  while(leftTick<(cm+34)*0.945 && !lost); //34cm is the length of the robot.

  if (lost) return;

  Stop(0);

  delay(300);

  //turn servo

  if (!my2servo.attached()) my2servo.attach(servo2Pin);

  my2servo.write(180);                            // sets the servo position according to the current degree

  now = millis();

  while (millis()-now<2000);

  servo2Off();

  //turn around

  leftTick=0;

  leftMotorSpeed=-leftMotorDefaultSpeed*0.8;//*0.77;

  rightMotorSpeed=rightMotorDefaultSpeed*0.8;//*0.8;

  Forward(0);

  while(leftTick<26);

  Stop(0);

  //acquire line

  findLineAgain();

  //reset adjustments (that's what the 1 does);

  followCurvyLine(1);

Results

VID_20170411_171245.mp4

Some Problems

As seen in the video above, the robot turned too far and aimed for the wrong part of the line. Earlier, the robot was not turning enough, and therefore it would reacquire the line after the next portion of the course. Finding the balance between the two was only a difference of about two ticks in turning. Furthermore, depending on the battery level for the motors, different results were encountered. If running with a fully charged battery, the robot would turn to far. But as we began to test the robot, the robot would die, and we were back to our original settings.

The robot would often curve, but it would still drop the penny within the correct range. Although it did not effect the drop zone, if it had curved to the left, and then went to turn back to face the course, turning left, it would over-steer and reacquire the track before the penny drop zone. No one said anything about doing the same part of the track twice, right?

Conclusion

Need a million sensors to ensure everything is working perfectly.

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