Teams of 4 students were given 1 month to design and build an autonomous mobile robot for Stanford Mechatronics class ME 218b. The robot relied on various sensory inputs to:
~ control strategic decision-making in real time via software
~ complete multiple laps around a race course
~ shoot a ball into a bucket
~ drive over a see-saw
~ wirelessly communicate with an outside system using XBee
for more comprehensive information about our robot's mechanical, electrical, and software components visit:
Videos of Core Functionality:
Completing Laps Around the Track
Crossing the See-Saw Obstacle
Shooting foam balls into orange bucket
Alignment Procedure:
Uses hybrid feeback from XBee Mounted Camera System & Wheel Encoders
Circuitry:
~ 2 LMD18200 motor-drive board circuits
~ 1 flywheel and gating servo circuit to control foam ball shooting
~ 1 XBee communication circuit
The IR sensing circuit is shown below. All final circuit diagrams can be found here: http://1023mb.weebly.com/electrical.html
IR Sensing Circuit, used to detect shooting target
Software:
A Texas Instruments Tiva C Series LaunchPad microcontroller controlled the KART's behavior through two orthogonal hierarchical state machines coded in C.
A state machine diagram for the robot's strategy to decide when/where to attempt shots, cross the obstacle, and complete laps is shown below. More diagrams & code are posted here: http://1023mb.weebly.com/software.html
CAD Models:
Full Assembly
Base Platform & Drive Train
