We have completed our mission like you could see in following video:
Mission Completed – Our robot finds the center of a circle
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The first test unit
We finished up the first sequence of the robot software “Find the center of a circle”. The state diagram could be found here.
The whole diagram graph could be found here:
http://bit.2f.lt/wp-content/uploads/sequence1v1/Sequence1.html
Now we start the beta test of this first sequence. One advantage of the state machine is the step-by-step testing of the software. In addition, debugging the software is quite simple. By writing the current state on the NXT screen, we always know what the software is doing at the moment.
Here our beta test parkour:
Coding the robot using State Machine (Sequence I)
I already described what a state machine does in the previous post. Finally we create the state machine diagram for the first section.
Our “Find the center of the circle” robot – plus programming lesson
Here is our robot!
The construction is very simple. Two wheels are moving the robot. A light sensor is checking the lightness/darkness all the time. Everything we need to. Continue reading
Calculate Radius Programming Part
In the last post I showed the solution of our problem. Now we take this model and write some code for it. Write? Let’s drag’n drop! Our program will be made in LabView, so we don’t work with code, we work with a graphical surface.
Here our “code” for calculating the center of the circle.
More about the software part of the robot, and the first ideas for the needed hardware coming soon!
How to find the center of a circle without external references?
Today, we discussed about the problem, I leaved open in the last post. How to find the center of a circle without external references? We found two different solutions, which I present you below.
Solution 1
Our first solution is very mathematical, so I have to illustrate it a bit.
Imagine, the robot drives over the circle at the point O. He would drive further to the point A, another point on the circle. Now he rotates with a specified angle α and drives to the third point (B). With lots of math knowledge, we find out the angle γ and the radius d3. Continue reading
Start of project Casemate Explorer
A robot that explores the surface of the planet Mars is nothing new for us. But now we want to explore a really unknown and undiscovered surface. I speak about the Casemates in Luxembourg. Some of these had been made accessible to the public but there are still undiscovered underground passages.
Wouldn’t it be cool creating a new robot who is able to drive into an unknown area, which explores the tunnels and draws a plan of it. The idea of the Casemate Explorer project comes from the use of robots while working on the problems in Fukushima.
Today, we already collected some ideas of how to start this. Here the steps which we would pass: