Week Seven Update

This week the group managed to put together the final code.  The final code integrates the travel algorithm, line tracking, passenger counter, and other elements described in the previous posts.  Such additions were made to the complete code such as the position counter.

This was added by creating a variable that corresponds to a particular location on the field.  This variable is then reassigned after each maneuver to keep track of the robot's position.  The value of the position variable is also key to the travel algorithm as it limits the robot's next course of action.  For the purposes of this program, a maneuver is defined as travelling from one station to an adjacent station.  This means that even though the robot's final destination may not be adjacent that the robot will be performing several smaller trips between two adjacent stations.  The travel algorithm compensates for this and creates the shortest possible trip to the final destination.  

As a whole, the travel algorithm works perfectly as designed.  However, the problem arises from accuracy when travelling between points.  This problem will be addressed in future versions as the project transfers from the practice field to the actual field.  The robot, with the exception of the color sensor, hasn't changed in regards to construction.  However, in the coming weeks efforts are being taken to remove parts that are not critical to function of the robot to decrease costs.  Removing unimportant parts is just part of a shift from making a working robot to a more efficient robot.  

 

A new addition to the code removes passengers from the robot if they are picked up from the station that is also the passenger's destination.  This means that if a red passenger is picked up at the red station that the robot will display that the robot picked up the passenger and then delivered them.  This eliminates the problem of having the robot travel in useless circles thus maximizing the amount of passengers that can be delivered within the four minute time limit.  

In the coming weeks the group aims to complete the rest of the remaining code and continue making the robot ready for competition through small additions to the code.  The group also aims to complete a rough draft and presentation by the end of week nine in preparation of the deliverables due in week ten.