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iARoC

international Autonomous Robotics Competition

Webpage Table of Contents

Results
Creating our Custom PCB Board
Software Development (6/13/2008)
Mounting the Sensors (6/16/2008)
Building the Maze (6/17/2008)
Competition
Code
iARoc/iRobot Create/Sun SPOT Documentation
Specialty Electronic Parts
Notes – Early Design & Concept Docs
Presentation

Our iARoC Monkey

Early Test of our iRobot Create using both VEX and SunSPOT controllers. (YouTube Video Clip)

In this year’s iARoC competition, we have an iRobot Create controlled with a SunSPOT that will have to do 2 challenges. In the first challenge it’ll have to traverse a maze, and solve it in the shortest time possible. In the second challenge, the robot will be set in a field with other robots and obstacles, and will have to get to a beacon the fastest. We will also be explaining the various aspects of our project in a judged presentation for the competition. Depending on how well we do in these challenges, and if we finish, we’ll receive a certain amount of points. The team with the highest number of points is, of course, the winner.

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Results

    Technical Presentation: 3rd Place

    Urban Challenge: Finished Maze. Time: 4:32.6

    Overall: 4th Place

Creating Our Custom Printed Circuit Board

Our PCB

The PCB we’ll be using.

Daiwei ironing

Daiwei is ironing. Yes, this is robotics.

Can’t do programming but still want to contribute to the club? No problem, labor is always welcome.Toshi drills 100+ holes on our PCB.

Abhinav solders all the parts onto our custom PCB.

It was tedious, but mission accomplished.

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Software Development (6/13/2008)

Mr. G explains the relationship between the range and the voltage of the IR Sensors to Daiwei and Matt.

The team hard at work.

David watches Mr. G pull his hair in frustration.

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Mounting the Sensors (6/16/2008)

Matt drilling the supports for the Sharp Distance Sensors (made from a rain gutter downspout).

John mounts the sensors onto the aMazing iRobot Create.

Lynbrook’s aMazing iRobot Create.

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Building the Maze (6/17/2008)

Competition

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The team conferring before our first Urban Challenge run.

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John starting our run.

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The judge gets ready to call time as we come around the final corner.

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Our time for our fastest run.

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Pick the white one Daiwei! Pick the white one.

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The team proudly standing aroung our awards.

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Code

Drive one block & collect data from SunSPOT

Get sensor data from Create (Group ID 2)

Based on data, adjust angle and distance if robot was not driving straight

	Case drove short

		drive more next time

			Case left

				drive towards the right

			Case right

				drive towards the left

	Case drove long

		drive less next time

			Case left

				drive towards the right

			Case right

				drive towards the left

Process data for next move

Robot Simulator at work.

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iARoc/iRobot Create/Sun SPOT Documentation

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Speciality Electronic Parts

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Notes – Early Design & Concept Docs

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Presentation

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Our first electric ‘hot wire’ cutter, designed to cut out enough insulating foam to create our 8×16 foot maze.

John, Michael, and Aashish carefully cut the foam sheets in 8″x8′ sections (14A at ~2.5VDC).


Cutting styrofoam to make the maze. The results were quite satisfying.

…and with a little duct tape to hold everything together, we have our maze!

First (second) run, turns out we were low on battery power, which is why it needed to be reset every 2 “moves”. Also note that it turns much more than 90 degrees.

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