Subject:
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Re: Remington: my Brickfest05 Super-Mega Sumobot
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Newsgroups:
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lugnet.robotics
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Date:
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Wed, 26 Oct 2005 18:04:52 GMT
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Viewed:
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1380 times
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On Tue, October 25, 2005 8:02 am, Tim Rueger wrote:
> All,
>
> I've finally posted photos and notes on my
> Brickfest05 Super-Mega Sumobot:
>
> http://www.brickshelf.com/cgi-bin/gallery.cgi?f=151065
>
> It's not anything spectacular by global standards,
> but I had a lot of fun working out the building
> challenges of making the thing reliable enough to
> compete.
>
> I also enjoyed compacting Robert Munafo's stepper
> mechanism to fit on top of a 9V battery box along
> with a worm gearbox and a polarity switch. :^)
Tim,
Nice robot, and you did a good job of documenting it.
I do have a question about the design. How well did the "roller" work?
First, you have one wheel in the middle of the robot:
http://www.brickshelf.com/cgi-bin/gallery.cgi?i=1456599
http://www.brickshelf.com/cgi-bin/gallery.cgi?i=1456600
It's for watching to see if the robot is moving, right?
Do you think it's a good idea to have a free-rolling wheel that supports some of the
weight of the robot? Wouldn't that take away from the traction the robot gets?
And, I think there's a problem with your program. Given this snippet:
---
#define Roller SENSOR_3
#define RollerTimeout 50 // check rolling sensor every xx/10 seconds
...
task CheckRoller()
{
SetPriority(RollerWatch);
while(true) {
// wait until the rolling timer goes off
until(Timer(0) >= RollerTimeout);
roll=Roller;
if ((roll > rollwindowmin) && (roll < rollwindowmax)) {
backupnow=1;
SetPower(BLINK,8);
OnFwd(BLINK); // turn on gratuitous blinker
} else {
backupnow=0;
Off(BLINK);
}
rollwindowmin = roll-3;
rollwindowmax = roll+3;
ClearTimer(0);
ClearSensor(Roller);
}
}
---
The robot could actually be stopped for almost 15 seconds, before it will detect a
stall, not just five (the ROLLERTIMEOUT).
And, with the gearing, the robot only needs to move less than 3/10ths of an inch in
five seconds, (forward OR backward) to believe it's moving.
Finally, if one side of the robot is lifted just a little, the roller will come off
the ground, so it won't detect anything.
Don't get me wrong. It's clear a great deal of time went into this design. I
suspect it was a bit over-engineered. And, trust me, I know over-engineering.
Here's my robot from my first trip to BrickFest:
http://www.geocities.com/stevehassenplug/MyRobotPR36.html
The reasons it did better at BF'02 than your robot did this year was because (A) I
had more experience at my first BF than you, and (B) the competition was much
tougher this year.
I know BrickFest was one of your first events, and it's clear you've already learned
a lot, so your sumo robots have improved, and I suspect you'll be much harder to
beat next time...
Nice work. Keep up the good documentation.
Steve
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Message has 1 Reply:
 | | Re: Remington: my Brickfest05 Super-Mega Sumobot
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| Steve/All, I just found this followup; I'd somehow missed it back in October. Many apologies, please don't read anything into the delay... (...) Yes, the roller is intended to detect (lack of) motion. It turns out it didn't help me much in the (...) (19 years ago, 27-Dec-05, to lugnet.robotics)
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