In six weeks, our team of four was to build a robot that could autonomously:
- navigate a narrow course, indicated by black electrical tape
- differentiate infrared signal frequencies to determine when to pass through a gate
- rescue toys from platforms above a pool of water
- transport them to safety by using a zipline
A more detailed overview of the competition can be found here.
Our mechanical systems were modelled using OnShape and were fabricated with a
laser cutter, waterjet cutter, and 3D printer.
Our code was written in the Arduino IDE using C and compiled onto a TINAH board, a powerful microcontroller developed by UBC. We used a main file that called functions from various header files.
In order to accurately follow the black tape, PID control was implemented.
A retrieval protocol was written for each toy. Lalo was even able to pick up two toys in one stop.
Lalo needed the ability to raise the zipline mechanism to its maximum height and place the toys on the zipline.