When programming a virtual robot to aviod obstacles from disasters, we set as many barriers as possible on the virtual world to test the robot, and that makes the coding process become more complicated .

We set a loop program for our robot that it will keep repeating the movement in the loop, and such command create a bug that loop and obstacle sensor cause the robot to fail to reach the destination directly. It's going to take a lot detours because we've programmed it to change direction when it encounters an obstacle.

While constructing the tracked vehicle, we faced a few difficulties. After finishing the entire robot and all the corresponding wiring, we found that the wheels would not turn on despite the switch being on. After examining the different components, we found that it was a problem with the gearbox. In this picture, we had to deconstruct the gearbox to repair a mistake we had made earlier before it was attached to the chassis. We forgot to insert a half screw into a hexagon nut which made the rod not spin with the gears. By screwing in this micro sized screw, the rod was able to move with the gear which allowed the whole vehicle to move back and forth

When we connected the double motor to the tracking vehicle, initially, only the right track was able to spin and the left side of the track was not working. This meant that, when the vehicle was turned on, the vehicle can only turn right making it only be able to do donuts. Through careful investigation of the motors, the wires and the tracks, we figured that the problem lied with the wiring of the vehicle. by rewiring the motor to the battery, as seen on the video above, the vehicle can now go back and forward.

Picture of wiring on the Arduino

Front Picture of the Robot

The process of constructing Zumi was originally smooth, but when we first program it, the connection had been unsuccessful, and it turn out to be the camera wire was not connect properly during the assembly process. So, we 

I  coded for Zumi to react when it faces obstacles, and the codes are as follows. At first, I thought it used cameras to identify objects or obstacles and turn left or right because I trained it to follow my gestures through camera. However, after I tried how to  activate the camera, the system kept reporting an error. Then, I found that the robot had its sensor, too, so I could just use the sensors to detect objects. This video shows how the Zumi robot reacts to my foot. Basically, it detect object in front of it, and it turns.