So Let it be Written, So Let it be Done!

April 12, 2007

Two Full Days Till Competition

Filed under: kamakula,robot — kamakula @ 2:35 am
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Well, Tuesday evening was a wash. I spent the entire time trying to get some timer interrupts to work correctly. . . and never did. I wouldn’t figure out the issue till this afternoon.

Now, it’s getting down to crunch time. I know tomorrow evening is a wash, because I’ll need to pack and get myself to the airport a couple hundred miles away. So, that really leaves now, and friday afternoon-evening to get as much work done as possible. . . and there is a lot to do.

So, I’ve got A2D code working and it can read the encoders correctly. Hopefully, they can drive the port pins so that I can make use of them w/o having to do some sort of weird polling with the A2D.

Still to go:

  1. Finish encoders and test GPIO polling method
  2. Cut out frame from lexan.
  3. Build another gearbox.
  4. Print out more encoder wheels.
  5. Write pulse width measuring code for accelerometer.
  6. Write and test PWM code with motor controller.
  7. Test ability of infrared detectors to “see” a candle.
  8. Pickup tone detector IC and create tone detector circuit (probably need to make a couple more stops at RadioShack).
  9. Port I2C code from Pic (CCSC) to Arm7 (WinARM).

Once those are done, I can:

  • Test independent closed loop speed control of each wheel.
  • Test ability to detect smoke detector tone.
  • Test ability to balance robot and stay in place.
  • Test ability to drive robot in a straight line while balancing using only encoders.
  • Test ability to drive robot in a straight line using feedback from IR distance sensors.
  • Test ability to wander without colliding with obstacles.
  • Test ability to detect candle and approach to within 30cm.

OMG. . . I just realized that I don’t have a candle put out mechanism. I suppose I may end up going with the fan method. . . I was hoping to come up with something more ingenuous. . but I have so little time left 😦

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