Rampage Software I apologize for my lack of

Rampage Software I apologize for my lack of attendance. I am currently taking a midterm exam. Please enjoy my portion of this presentation. Micheal Barbee Lead Software Designer, Operations

Rampage Software Layout

Rampage General Algorithm Check for beacon, compare to heading Signal Mapper to scan obstacles in range Send obstacle grid to Pathfinder sends Navigation Array to Main Board moves wheels, and checks for obstacles/bumps/terrain-grade on interrupt. When a new obstacle comes into range, repeat this process.

Rampage Mapper Arduino Uno, reading 4 IR sensors on a turret Averages 3 readings, 5 ms apart for each deg Sends average to analog. To. Inches(int ana) Position of Servo (offset by compass heading) and inch distance are sent to a coordinate function, solving an ASA triangle. Each point is placed into a grid box (25 X 25) If a box has 3 or more points, we percive this as an obstacle.

Rampage Mapper Fieval, Rampage's little brother, reading the South West corner of my house. Only points are displayed. Each white circle is 6”, the red in the middle if Fieval, Green dots are readings from this sweep, red dots are old readings.

Rampage Mapper Obstacle boxes are now drawn to reduce resolution for the sake of our 8 bit pathfinder, And to reduce noise from our IR sensor. Using this method, we have been able to detect Chain link fence. Note our grid's width of 4 feet.

Rampage Mapper Here is a small example of our processing code. I am more familiar with Java than C, so I develop my ideas on Processing, then translate to C. You can see in the bottom of the IDE serial input. This includes angle readings, (x, y) coordinates, and box coordinates. Our full source will be released on our website on April 5 th. Our url is given later in the presentation.

Rampage Mapper Example of IR Sensor's Abilities

Rampage Pathfinding As of right now, I have the Uno plotting the information from one IR sensor into a 25 X 25 array, and sending it out of Serial and I 2 C. Now I need to get an Arduino Mega to receive this array and find a path to the beacon. I have chosen to use the Wavefront algorithm, due to its simplicity and relatively small RAM requirements.

Rampage Pathfinding Assign all obstacle blocks as 1 Assign beacon as 2, Rampage as 500 Assign all empty space as 0 Starting at 2, check N, E, S, W; if 0, write current cell's value + 1 Repeat for all newly written-to cells If a neighbor's value is 500, Rampage has been found, quite Wave. Begin Path.

Rampage Pathfinding

Rampage Pathfinding To find our path, start at 500, and check neighbors. Save the direction of the smallest-valued neighbor. If there is a tie, perform a Manhattan-Distance check, and save the smallest to our navigation array. Move to the smallest and repeat until 2 (our beacon) is reached.

Rampage Testing Enough code, now for testing

Rampage Testing Rampage will be controlled, wirelessly (via x. Bee), by a Playstation 2® controller. We will log data from our accelerometer chip into our computer for analysis and defining trigger points. We will also push our chassis to its limits This will be a great opportunity for some gratification. We expect to begin this phase this Friday (9 th).

TODO Network all boards together Test Laser Range finder, and its role as an IR calibrator. Find library for 9 DOF Solve 2 ft dead end bug Software reset by Main Board to nonresponsive children Li-Po power level monitoring by Main Board Many many more things. Testing.

Visit PCC's Entry into the Co. SGC Robotics Challenge www. mbcomputerservices. com/csgc Contact Micheal Barbee: supersuade@gmail. com