Lab 2 - A Forest Explorer: Build the 'Bot

Start with the robot you built for Lab 1 and do not modify it yet.

Install a HandyBoard or XBC on it and figure out how to download code to it.

Write, download, and test some simple routines that start and stop the motors and indicate (in any way you like) that the bump sensors are working.

Create a simple program that causes the robot to travel forward until it hits something. When it hits something, make the robot backup and turn away from the side that the hit occured on and then make it go forward until it hits something again.

Modify both the simple program and the robot to achieve the objective of this lab.

The team should discuss how best to use the team members' time and skills.

There are no special rules and restrictions regarding building your robot except that it must be built in a reliable, robust, and workmanlike way.

As part of grading this lab your robot will be picked up and inspected. During that process nothing may fall off it; it must be sufficiently well built that it suffers no damage during casual handling.

You make want to make brief reminder notes regarding any decisions you make and any problems you encounter so as to make writing your report easier.

Lab 2 - A Forest Explorer: Grading

Introduction

To complete this lab your robot must be graded by Mr. Chiafulio.

It will be subject to both inspection and test, as outlined below.

Inspection

Prior to each test of your robot, it will be picked up and inspected.

While being handled, no pieces may become detached.

The HandyBoard must not become dislodged from its normal location.

There must be no wires that are lose such that they may be subject to abrasion from sources within the robot or within the environment within which it operates.

The robot must be built in a reliable and workmanlike way.

Testing

Each test of the robot will comprise it being set loose in the forest for five minutes. For this period of five minutes the robot must be in more or less continuous motion (as defined below) and must not get stuck (again as defined below).

Before each test you may power up the robot at any location within the forest, allow it to perform an initialization procedure, and subsequently move it to any desired starting location.

At any time and for any reason, you may ask for the test to be stopped, but once a test has started, a failure to complete it successfully, regardless of reason, will incur a penalty.

You may request as many "practice" tests as you like, but you must make it clear whether a given test is "real" or "practice" before it starts. "Practice" tests neither gain nor cost points.

Of course, you may perform as much of your own testing, using the forest, as you like, providing that you share the forest with your class-mates in a fair and friendly way.

Scoring

A test is defined as an attempt by the robot to wander around the forest for five minutes without getting stuck.

Continuous motion is defined as the robot moving under its own power with respect to the surface below it such that it moves a linear distance of at least 20 inches every 20 seconds.

A robot is defined as being stuck if during any period of one minute the maximum distance detween its two furthest apart points is less than 24 inches.

You start out with 40 points and can lose and gain points as follows.

1. For each complete minute that the robot wanders without being stuck, it gains 10 points.

2. If, after 5 minutes but in less than 5 minutes and 15 seconds, the robot stops (with all motors off!) of its own accord, it gains 10 points.

3. At the end of any test, you may choose to either accept the points awarded or take an "incomplete" penalty (see item 4, below) if you think that you can do better on a subsequent test. Once you have accepted any points, you cannot attempt any further tests.

4. For each test started but not completed, 3 points will be deducted. As mentioned above, you may choose to take an "incomplete" penalty if you wish.

5. Just prior to every test the robot will be inspected to check for quality workmanship and two points will be deducted, to a maximum of 10 per attempt, for quality violations found. Typical violations are loose wires and lego pieces, or the handyboard, falling off while the robot is being handled during the inspection.

Note that this inspection is performed before each and every test and thus unfixed violations may incur repeated penalties.


Lab 2 - A Forest Explorer: Lab Report


This assignment is due by the class period after your robots run the forest course. Expect to lose points if you omit any section!

Submit your printed report to Mr. Chiafulio by 4pm on the due date.

Scanned sketches are acceptable; the use of a graphics drawing program is neither required nor encouraged for this assignment.

Your report must include all the following sections:

1. "Introduction" - standard format and content introduction.

2. "Procedure: Design" - briefly and succinctly summerize both the software and hardware design discussions and decisions that led to the creation of your robot.

3. "Procedure: Robot Construction" - briefly describe the structure of your robot. Comment on any construction or reliability problem encountered.

4. "Procedure: Explorer Program" - briefly explain the strategy adopted by your explorer program. Describe the algorithms employed.

5. "Discussion/Analysis" - Briefly review things that went well, things that did not go well, and things that you would do differently if there were a next time.

6. "Conclusion" - standard format and content conclusion.