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Master Mazer started out as a novice entry in the May 2002 PAReX Autonomous
competition. To compete at the expert level several changes were made,
primarily the addition of several more IR sensors. The biggest problem in the
past competition was keeping lined up to walls, so now each side has 2 sensors
looking at the wall. One is mounted at the front of the robot, the other at the
rear, and both readings are used to line up with the walls. There are also a
pair of sensors facing forward to look for walls and the tennis ball. The
remainder of the baseplate was unchanged, with a pair of hacked S3003 servos for
drive motors, with internal encoders. The front and rear floor detectors are
still there for detecting the finish square (advanced) or the tennis ball disk
(expert). The original dual processor board (AT90S8515/AT90S8535) was replaced
with a single Mega128, and a larger LCD display. |
