1
self-maneuvering miniature vehicle
2
What are we doing?

• The same thing as everyone else
• Attempt to facilitate the navigation of a
  self-maneuvering miniature vehicle across an
  alternating curved black line on a linoleum-based
  surface

3
Parts List

• Whatever came in the box.

4
How might this be accomplished?

• Commence the operation by the construction of a
  self-maneuvering miniature vehicle with
  electromagnetic radiation detectors on the aft
  and starboard sides of the self-maneuvering
  miniature vehicle.

STARBOARD
AFT
5
Velocity Facilitators

• Due to the necessity of forward momentum, our
  self-maneuvering miniature vehicle will require 2
  Velocity Facilitators. They will hence forth be
  referred to as a and ß.

6

• Due to security reasons, the code for our
  self-maneuvering miniature vehicle is highly
  valuable and mustn't fall into the wrong hands.
  For this reason, or code is as follows, and
  please read without haste

7

• void main()
• int flag1
• printf("push to begin \n")
• while (start_button()0)
• while(flag1)
• motor(1,30) //go straight
• motor(3,30) //go straight
• printf("straight \n")
• if (analog(3)gt175) //if the right sensor
  is on the black line
• if (analog(4)gt165) //if the left
  sensor is also on the black line
• printf("done")
• ao() //stop
• flag0

8
PHOTODIODE

• As aforementioned, the maintenance of location in
  the vicinity of the black line will be
  facilitated by the use of electromagnetic
  radiation detectors. The value returned is
  almost inversely proportional to the amount of
  light the sensor is exposed to. The photodiode
  returns a high value when little light is present
  as more of the current returns. This is an open
  circuit

9
DIVISION OF LABOR?

• We feel division of labor is a preposterous
  concept and it should be abolished immediately.
  If one alpha male dominates the construction of
  our self-maneuvering miniature vehicle, how would
  the inferiors learn to build robots? We feel
  any group who had builders, coders, and
  overseers were going about things all wrong.

OkJosh wrote the code, Patrick was in charge of
robot construction with Mayas aid. Bell also
worked on code and was in charge of parts.
10
Challenges?

• Challenges are for losers. We called them
  potholes on the road to success. They were all
  overcome by perseverance, ingenuity, and prayer.
  Oh and scotch tape. That is pivotal.

11
Ohproblems

• Ok, well we did have one pothole on the road to
  success and that was the deficient ability of our
  self maneuvering miniature vehicle to cease
  forward momentum at the conclusion of the black
  tape path. This was solved by the addition of
  analog(4)lt175 parameter in the code. This, in
  conjunction with manipulating the locality of the
  photodiodes rectified the pothole. On occasion,
  there was also an error in the direction of
  connectors for the velocity facilitators a and ß.

12
Trapez and Trapez_fast

• Trapez and Trapez_fast are functions created in
  MATLAB based on the Trapezoidal Rule to find the
  area under the curve of a function in the
  homework.
• The difference between the two functions is
  Trapez_fast is faster than Trapez because it uses
  the MATLAB vector operation instead of arithmetic
  operations in Trapez.

13
MATLAB RESULTS

• Trapez_fast
• N5000, elapsed time 0.000000 s
• N50000, elapsed time 0.016000 s
• Trapez
• N5000, elapsed time 0.062000 s
• N50000, easped time 3.109000 s
• Trapez_ fast was the faster function for n5000
  by 0.062000 seconds
• Trapez_ fast was the faster function for n50000
  by 3.093000 seconds

14

• The blue line is ysin(x).
• The red line is the integral of y. The red line
  represent the area under the curve of sin(x) as x
  progresses.

15
Results

• s
• Columns 1 through 10
• 0 0.0020 0.0079 0.0177 0.0314 0.0489 0.0702 0.0952
   0.1237 0.1557
• Columns 11 through 20
• 0.1910 0.2295 0.2710 0.3155 0.3626 0.4122 0.4642 0
  .5182 0.5742 0.6319
• Columns 21 through 30
• 0.6910 0.7513 0.8126 0.8747 0.9372 1.0000 1.0628 1
  .1253 1.1874 1.2487
• Columns 31 through 40
• 1.3090 1.3681 1.4257 1.4817 1.5358 1.5877 1.6374 1
  .6845 1.7289 1.7704
• Columns 41 through 50
• 1.8089 1.8442 1.8762 1.9047 1.9297 1.9509 1.9684 1
  .9821 1.9920 1.9979
• Columns 51 through 60
• 1.9998 1.9979 1.9919 1.9821 1.9684 1.9509 1.9296 1
  .9046 1.8761 1.8441
• Columns 61 through 70
• 1.8088 1.7703 1.7288 1.6843 1.6372 1.5876 1.5356 1
  .4815 1.4256 1.3679
• Columns 71 through 80
• 1.3088 1.2485 1.1872 1.1251 1.0626 0.9998 0.9370 0
  .8745 0.8125 0.7512
• Columns 81 through 90
• 0.6908 0.6317 0.5741 0.5181 0.4641 0.4121 0.3625 0
  .3154 0.2710 0.2294