The Fockers Fire Focker Mechanical Engineering: Seth McDowell, Chyle - - PowerPoint PPT Presentation

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May 31, 2023 136 likes •252 views

The Fockers Fire Focker Mechanical Engineering: Seth McDowell, Chyle McMahon Electrical Engineering: Tom Sterbis Computer Science: Mike Grim State Diagram Mechanical Goals Primary Robot: Gearing Accuracy Turret Secondary

SLIDE 1

The Fockers

Fire Focker

Mechanical Engineering: Seth McDowell, Chyle McMahon Electrical Engineering: Tom Sterbis Computer Science: Mike Grim

SLIDE 2

State Diagram

SLIDE 3

SLIDE 4

Mechanical Goals

Primary Robot:

– Gearing – Accuracy – Turret

Secondary Robot:

– Torque

SLIDE 5

SLIDE 6

Engineering Overview

Keep
It
Simple
Stupid
Sonar
Touch
Camera

Handy Board Digital port 8 Digital port 9 Digital port 10 Breadboard With Tone Sensors 300Hz 1000Hz 5000Hz Power wire and ground

SLIDE 7

Custom Sensor

SLIDE 8

SLIDE 9

Path Planner/Compression

Best-first-search.
100 bits instead of 100 integers to represent maps.
Resulting compression per map is a 93.75% savings.
Tours are still full-length 1-D arrays: gives us an order in which to traverse map.
4x4 Grid:

{{ 0, 0, 0, 0 }, { V, B, B, 0 }, {0, B, V, 0 }, { 0, 0, 0, 0 }} <-- 32 bytes

1-D Array:

{ 0,0,0,0,V,B,B,0,0,B,V,0,0,0,0,0 } <-- 32 bytes

1-D Bitset of Obstacles:

0000 0110 0100 0000 <-- 2 bytes

1-D Bitset of Victims:

0000 1000 0010 0000 <-- 2 bytes

Savings: 4 bytes / 32 bytes = 87.5% Compression

SLIDE 10

SLIDE 11