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FLL Robot Design Executive Summary (RDES)
Meet our robot Phil the Fissure
Phil + Fissure = Phil the Fissure
Attachments: 5
Sensors: Motors, Touch
Possible Points 504+
Average Points: 405
Drivetrain:
Language:
Best time for wheel change: 28 s
Program #1: Man
Memory used:
Possible Points: 20
Consistency: 7/10
Missions accomplished: Tsunami(20), Retrieve person, Retrieve truck
Sensors and attachments: touch sensor, motor rotations, motor arm
Description: aim with guide at tsunami with arm attachment in down position, goes forward knocks tsunami, turns left, goes forward to wall trapping man until touch sensor activated, arm come down, turn left straight, more left to clear wall, sharp left and straight going past truck and bringing it back to base. Just in case it veers to the right there is also a turn left at very end of forward rotation.
Program #2: Ambulance
Memory used:
Possible Points: 110
Consistency: 6/10
Missions: Deliver Ambulance(25), Deliver Truck(20), Construction Relocation(20), Code Construction (15), Base Isolation Test(30)
Sensors and attachments: touch sensor, motor arm, motor rotations
Description: Add touch sensor extender and put truck on robot with arm in up position, aim with guide, robot goes forward towards ambulance and pushes it down the table until touch sensor triggered at back wall, arm goes down dropping the truck at end of table too, arm back up, reverses, turns to the left towards the construction, moves forward until touch sensor triggers, arm comes down to trap the pieces, turns right and moves forward to pink zone delivering pieces, lift arm, reverse into base isolation, turn right and go forward back to base.
Program #3: Dog and Cat
Memory used:
Possible Points: 30
Consistency: 9/10
Missions accomplished: branch (30), scoop dog and cat, retrieve truck
Sensors and attachments: motor arm attachment, touch sensor
Description: use frame to align robot, arm position up, goes forward, motor goes down and arm over dog and cat, jerks to right to knock tree, turns back, backs up bringing dog and cat back to base.
Program #4; Obstacles
Memory used:
Possible Points:289+runway?
Consistency: 9/10
Missions accomplished: Plane(30), Obstacles to red zone(31), Family(66), People with Water (45), 3 People in Red (54), Pets(30), Supplies(8 ), Safe Place(25), Runway(30)
Sensors and attachments: touch sensor
Description: load cargo box (2 people, cat, dog, water, bread, timmy the medicine), remove pivot wheel and attach big treaded wheel, manually aim robot to obstacles (plane trigger), robot forward to obstacles as passes attachment triggers plane, continues forward over the obstacles until touch sensor is activated from contacting back wall. Ends in red zone FINISHED!
Strategy
We based our strategy on points, proximity and similar attachments needed. We also do not want too many sensors as last year too many sensors and lots of glitches (especially light sensors)! We determined there were a lot of points given for people together with supplies in red zone (lots of points doubled up like Family of 3 + 3 People in red zone + 3 people with water + ending in red zone + completing the obstacle). Because of this we based our missions around collecting what was needed and getting them to the red zone. Then based on proximity and ease of attachments we added in close missions (like knocking the branch while collecting the dog and cat or knocking the tsunami en-route to man). Once we were decent at getting these and bringing them to red zone we added another set that we saw had lots of points (our program #2;ambulance, truck, constructions relocate, code and base isolation again based on proximity and similar attachments). We watch the time though as our last mission must be last and it is worth the most points. We must start that shortly after the 2:00 mark.
Design Process
At the beginning of the season the whole team split into 3 groups each building a different type of robot. One group built a 4 wheel robot, another built a 3 wheel robot while another built a 2 wheel plus skid model. The 4 wheel was stable but hard to manoeuvre turns, the 3 wheel was stable and did the obstacles well and a better turner than the 4 wheel but still hard to manoeuvre fine movements and the 2 wheel plus skid manoeuvred great except didn't do obstacles at all. We decided to use the 3 wheel model. We quickly ran into problems though with turning so went back to 2 wheel with skid hoping we would find a solution to the obstacles. To help with manoeuvrability we added a pivot wheel instead of skid to our 2 wheel design. Once we got our first programs running decently we looked back at the obstacles and decided to have a 3rd wheel attachment (as a big front wheel really helps with the obstacles) so we could blend both the benefits of a 3 wheel robot and a 2 wheel robot. We also heightened our robot to help with the clearing the obstacles. In the end we really ended up with a root that blended all the benefits of each robot design that we all contributed to and adapted our robot as it was needed to help with our specific programs.
Mechanical Design
We wanted our robot to be solid so we made it more square with bigger wheels on the back to be less tippy and we really reinforced it. All of our attachments we reinforced too so that they could snap on and off easily. We also put a bunch of attachments together so we would have to change them less and save time adding a whole bunch of little ones. We still found though the time to take on and off attachments a lot so we figured out a way to lessen the number of attachments and to keep them on the robot. So now our robot has all the same attachments for the first 3 programs only needing to take off attachments and add wheel change for last one. This has helped keep it easier and less chance for repair needs. At first we had over 8 attachments and over the season we had condensed that into 4 attachments. We put a strip of studs to wrap the wires to keep them out of the way and we make sure the brick
Programming
For all of our missions we looked to see the range of the robot and tried to program some correctors in. An example is Program 3, sometimes if the wheel gets caught on the house and the robot therefore overturns we added a section of program to the end. After it's forward rotations back to base there is a powerful right turn. If it didn't overturn it would have hit base before this turn and we would have grabbed it and if it got caught we wait for this overturning which will bring it back to base. We did use some line following for the house mission but our light sensor is very glitchy and had to work without it. In our Program #2 we put in a time lap before the touch sensor is triggered so that in case it hits the ambulance with the touch sensor it will still continue the program.
Innovation
We had some really cool attachments (a lot of fun to make) but in the end we ended up streamlining our attachments so they could be multifunctional as they took so long to get on and off. Programs 1,2 and 3 all use the same attachments.
One neat thing is the only change our robot goes through is a wheel change, having a wheel attachment is pretty neat.
Meet our robot Phil the Fissure
Phil + Fissure = Phil the Fissure
Attachments: 5
Sensors: Motors, Touch
Possible Points 504+
Average Points: 405
Drivetrain:
Language:
Best time for wheel change: 28 s
Program #1: Man
Memory used:
Possible Points: 20
Consistency: 7/10
Missions accomplished: Tsunami(20), Retrieve person, Retrieve truck
Sensors and attachments: touch sensor, motor rotations, motor arm
Description: aim with guide at tsunami with arm attachment in down position, goes forward knocks tsunami, turns left, goes forward to wall trapping man until touch sensor activated, arm come down, turn left straight, more left to clear wall, sharp left and straight going past truck and bringing it back to base. Just in case it veers to the right there is also a turn left at very end of forward rotation.
Program #2: Ambulance
Memory used:
Possible Points: 110
Consistency: 6/10
Missions: Deliver Ambulance(25), Deliver Truck(20), Construction Relocation(20), Code Construction (15), Base Isolation Test(30)
Sensors and attachments: touch sensor, motor arm, motor rotations
Description: Add touch sensor extender and put truck on robot with arm in up position, aim with guide, robot goes forward towards ambulance and pushes it down the table until touch sensor triggered at back wall, arm goes down dropping the truck at end of table too, arm back up, reverses, turns to the left towards the construction, moves forward until touch sensor triggers, arm comes down to trap the pieces, turns right and moves forward to pink zone delivering pieces, lift arm, reverse into base isolation, turn right and go forward back to base.
Program #3: Dog and Cat
Memory used:
Possible Points: 30
Consistency: 9/10
Missions accomplished: branch (30), scoop dog and cat, retrieve truck
Sensors and attachments: motor arm attachment, touch sensor
Description: use frame to align robot, arm position up, goes forward, motor goes down and arm over dog and cat, jerks to right to knock tree, turns back, backs up bringing dog and cat back to base.
Program #4; Obstacles
Memory used:
Possible Points:289+runway?
Consistency: 9/10
Missions accomplished: Plane(30), Obstacles to red zone(31), Family(66), People with Water (45), 3 People in Red (54), Pets(30), Supplies(8 ), Safe Place(25), Runway(30)
Sensors and attachments: touch sensor
Description: load cargo box (2 people, cat, dog, water, bread, timmy the medicine), remove pivot wheel and attach big treaded wheel, manually aim robot to obstacles (plane trigger), robot forward to obstacles as passes attachment triggers plane, continues forward over the obstacles until touch sensor is activated from contacting back wall. Ends in red zone FINISHED!
Strategy
We based our strategy on points, proximity and similar attachments needed. We also do not want too many sensors as last year too many sensors and lots of glitches (especially light sensors)! We determined there were a lot of points given for people together with supplies in red zone (lots of points doubled up like Family of 3 + 3 People in red zone + 3 people with water + ending in red zone + completing the obstacle). Because of this we based our missions around collecting what was needed and getting them to the red zone. Then based on proximity and ease of attachments we added in close missions (like knocking the branch while collecting the dog and cat or knocking the tsunami en-route to man). Once we were decent at getting these and bringing them to red zone we added another set that we saw had lots of points (our program #2;ambulance, truck, constructions relocate, code and base isolation again based on proximity and similar attachments). We watch the time though as our last mission must be last and it is worth the most points. We must start that shortly after the 2:00 mark.
Design Process
At the beginning of the season the whole team split into 3 groups each building a different type of robot. One group built a 4 wheel robot, another built a 3 wheel robot while another built a 2 wheel plus skid model. The 4 wheel was stable but hard to manoeuvre turns, the 3 wheel was stable and did the obstacles well and a better turner than the 4 wheel but still hard to manoeuvre fine movements and the 2 wheel plus skid manoeuvred great except didn't do obstacles at all. We decided to use the 3 wheel model. We quickly ran into problems though with turning so went back to 2 wheel with skid hoping we would find a solution to the obstacles. To help with manoeuvrability we added a pivot wheel instead of skid to our 2 wheel design. Once we got our first programs running decently we looked back at the obstacles and decided to have a 3rd wheel attachment (as a big front wheel really helps with the obstacles) so we could blend both the benefits of a 3 wheel robot and a 2 wheel robot. We also heightened our robot to help with the clearing the obstacles. In the end we really ended up with a root that blended all the benefits of each robot design that we all contributed to and adapted our robot as it was needed to help with our specific programs.
Mechanical Design
We wanted our robot to be solid so we made it more square with bigger wheels on the back to be less tippy and we really reinforced it. All of our attachments we reinforced too so that they could snap on and off easily. We also put a bunch of attachments together so we would have to change them less and save time adding a whole bunch of little ones. We still found though the time to take on and off attachments a lot so we figured out a way to lessen the number of attachments and to keep them on the robot. So now our robot has all the same attachments for the first 3 programs only needing to take off attachments and add wheel change for last one. This has helped keep it easier and less chance for repair needs. At first we had over 8 attachments and over the season we had condensed that into 4 attachments. We put a strip of studs to wrap the wires to keep them out of the way and we make sure the brick
Programming
For all of our missions we looked to see the range of the robot and tried to program some correctors in. An example is Program 3, sometimes if the wheel gets caught on the house and the robot therefore overturns we added a section of program to the end. After it's forward rotations back to base there is a powerful right turn. If it didn't overturn it would have hit base before this turn and we would have grabbed it and if it got caught we wait for this overturning which will bring it back to base. We did use some line following for the house mission but our light sensor is very glitchy and had to work without it. In our Program #2 we put in a time lap before the touch sensor is triggered so that in case it hits the ambulance with the touch sensor it will still continue the program.
Innovation
We had some really cool attachments (a lot of fun to make) but in the end we ended up streamlining our attachments so they could be multifunctional as they took so long to get on and off. Programs 1,2 and 3 all use the same attachments.
One neat thing is the only change our robot goes through is a wheel change, having a wheel attachment is pretty neat.
THANK YOU TO OUR SPONSORS
Luke Rodrigues ~ Lifestyle Markets ~ Peter Hoemberg ~ Therma Boat Ltd.
Luke Rodrigues ~ Lifestyle Markets ~ Peter Hoemberg ~ Therma Boat Ltd.
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