Sensors & Instrumentation

Category : Engineering / Autonomy
Completion : September - December 2016
Role : Co - Developer
Tools : C | Bare Bones PIC

The main objective is to construct a robot to utilize sensors to navigate a course. The quality of the design determines the performance in the final competition. Basic electronics include power regulation, a microcontroller, an integrated programmer for the microcontroller, and a variety of sensors. The sensor suite includes a push button, optical encoders to measure the rotation of the wheels, a Hall-effect sensor to measure the strength of a magnetic field, infrared light detection to follow a line on the ground, temperature measurement, and overall system current sensing.

Competition Tasks
  1. The robot is to be placed in the start area. The robot should start when the button is pressed. Using the available sensors, the robot is to follow the line from beginning to end without skipping a part.
  2. Four of the possible locations will contain magnets of different polarity. When the robot detects a magnet, the robot should stop. If the output of the filter associated with the Hall sensor is below the threshold for 0 Gauss the green LED is to be blinked for 7 seconds; if it is above the threshold, the LED is to be turned on for 7 seconds. The robot should then continue moving along the line until another magnet is detected or until it reaches the finish line. The green LED must be off when the robot is moving.
  3. Signaling for a magnet detection should be performed only once.
  4. Penalty (mark deduction) will be applied for visible hardware alterations.
  5. The event ends after 5 minutes or when the course has been completed, whichever occurs first.

The video below shows the robot following the line. It was not allowed to take videos of the actual competition.

Download Schematics
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pshering@edu.uwaterloo.ca