- Processor: 1 BX-24
- Movement: Four wheel Drive
- Sensors: 2 Sharp GP2D12 IR Rangefinding
- 1 Fairchild QRB1134 Photoreflector (for line/edge detection)
- 1 Panasonic PNA4601M IR sensor for Remote-Control mode.
As this is my first robot, I wanted to incorporate as many different technologies
as possible, so I could get a good feel for how they work together.
The four wheel drive system is made up of two hacked Futaba Servo motors,
and two DC motors with a Tamiya gearbox. The BX-24 drives the DC motors through
a Texas Instruments H-Bridge (SN754410). Future plans involve using a second H-Bridge
to control a stepper motor for something. (Maybe a robotic arm, maybe to rotate the Range-finding
sensors around??) While I was waiting for my IR Rangefinders to come, I installed the Panasonic IR sensor,
and taught the robot "Hitachi" :). Press "2" and the bot goes forward,
"5" it stops, "8" backwards, etc... As fun as using a tv remote has been,
I have to keep her autonomous. I added range-finding sensors to CrystaLite, one up front,
and one that "swivels" in the back, to follow either the left, or the right wall.
CrystaLite didn't fare so well in the November 2nd competition, but there was a lot
to learn about what went wrong. In the first configuration, she was doing well,
when her turns started leaving her at odd angles. She ended up running head-on into
a corner, and she continued to climb up the maze wall until she was stuck and disqualified.
The next version of CrystaLite will likely see some sort of compass, or wheel encoders, to
ensure 90º turns, as well as a front bump sensor. I am still undecided on whether or not I
should keep the four-wheel-drive design, or go for the more common two-wheel-drive & skid-pad design.
