Initial Designs and Brainstorm | Hi-5v

Product Nucleus and MVP

Inspired by a guest talk given by Steve Myers, our team began by determining and decomposing the necessary functionality of our robot. We identified features of our robot that are absolutely required (MVP), features that are exciting but should have less priority, and features that would only be implemented if we had too much time on our hands. Below is the summary of our task break down

Required Functions

Driving and Turning
1. Turning in Place
2. Touching contact zone
Line Following
1. Orient in start zone
2. Get out of the start place and follow tape line 1
3. Find tape line 2 (drive forward)
4. Turning to contact zone
Sensing
1. IR sensing the shooting goal
2. Turning to contact zone (IR)
Shooting
1. Ball storage
Required buttons
1. Emergency stop switch
2. Button during startup
  1. Orient in start zone
Celebration

Nice to Have

Confirming touch
Line to Ramp
Going up Ramp

Really Nice to Have

Cable Management
Aesthetic

Our plan of attack

Blow is a table detailing our breakdown of tackling the required features of our robot.

Task	Features/how to do it	Equipment needed	How to test	Milestone Date / Assignments
Driving and Turning	H-bridge to control direction (Forward - HIGH, LOW; Reverse - LOW, HIGH) Speed - PWM Input Signal	2+ wheels 2+ high torque motors H-bridge Motor control libraries	Drive motors at variable speed (forward, backward, change speed) Freely change direction (turn left, turn right)	Dylan & Coco Ideal deadline: Feb 27 Hard deadline: Mar 1
Turning Input Button	Push button, start turning, push button again, stop turning & start tasks	Input Button	Set robot in random direction, pick target direction, and robot can get to target direction	Dylan & Coco Deadline Mar 1
Line Following	Sense black line with multiple downward sensors Use sensor to continually readjust back to line Try to center over center IR If Left Lost, Right Sense: Turn Right Right Lost, Left Sense: Turn Left If all three sense @ same time (at T zone), lose line & go forward Go different direction from getting out of start zone to contact zone (track initial turn)	3 IR sensors	Put the robot on a line can it sense the line Move it off to the left (do the sensors give correct values) Move it off to the right (do the sensors give correct values) Integrated with driving/turning: can it follow a curved line	Gene Ideal deadline: Feb 27 Hard deadline: Mar 1
Touch Sensing	Robot gets close enough to shooting zone	Pressure sensor / push sensor?	Does robot drive forward until touch sensor sense a wall Combined with IR: Robot can approach and reach the source of IR signal and stop when touches wall	Liam Ideal deadline: Feb 27 Hard deadline: Mar 1
IR Sensing	Sense 3333 Hz IR Beacon 8” above field Able to sense IR signal direction (by turning)	IR signal sensor (from only one direction so if turn and signal get stronger have an idea of signal direction)	If output IR signal, can the robot detect it If facing signal detection is stronger If facing away from signal detection is weaker	Gene Ideal deadline: Feb 27 Hard deadline: Mar 1
Shooting	Balls deposit 4.2” above the ground (clearing the wall) Opening at top for 5 balls for loading at start of game Gate holding the balls back until time for release	Tube or carrying container Servo for opening gate or tilting container	Upon gate release, balls all roll out in one direction above 4 inches off the ground Balls don’t fall out at max robot speed	Liam Ideal deadline: Feb 27 Hard deadline: Mar 1
Emergency stop switch	Emergency stop switch that cuts all power	Circuit Breaker Switch	In all states, emergency switch cuts power	Everyone Deadline March 1
Celebration	Servo with pom poms attached moves back and forth	Servo Mini pom pom	After shooting darts/once course is completed, robot does pom pom wave At 2:10 minute completion time does the pom pom wave	Everyone Ideal deadline: Feb 27 Hard deadline: Mar 1