pi-Robot -- wall follower (with PD controller)

Maze Competition
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Overview:
1.) Walls will be constructed from 2" x 4" wood studs.
2.) 2x4's will be placed on their narrow edge with the 4" side creating the wall.
3.) Maze will consist of 4 outer walls forming a 7' x 7' square with a 1' gap in one wall to form the "exit."
4.) Inner walls will be formed by joining 1', 2', 3' and 4' long wall segments in random patterns to form a wall set.
5.) Randomized wall sets will be available prior to competition.
6.) The placement of the wall segments to form the inner walls will be random and done on the day of competition.
7.) Starting locations will be determined randomly.

Rules:
1.) Robots will be given 2 attempts to complete the course from each starting position.
2.) Teams will run attempts from 2 different random starting positions.
3.) All teams will complete one attempt before moving to the second attempt.
4.) All teams will complete attempts against the first starting position before starting the next starting position.
5.) Teams may use the time between attempts to adjust hardware and software.
6.) Robots must traverse the maze and make it to the end.
7.) Robots will be timed starting with their first movement.
8.) Timing will stop when the robot completely leaves the maze or when the time elapsed reaches 5 minutes.
9.) A team may choose to end the run early and take a 5 minute time (e.g. robot gets stuck).
10.) The best result from the 2 attempts at the first starting position will be averaged with the best result from the 2 attempts at the other starting position.
11.) The averaged times will be used to determine team places.
12.) An attempt to complete the course will be disqualified if a robot moves a wall or jumps over a wall.

Category:

Science & Technology

Tags:

• 3pi
• robot
• pid
• pd
• wall
• follow
• follower
• atmega
• sharp

[NXTWolf]

Well done!