Final Robot Design

Purpose 

The purpose of this post is to reflect on the finished design, so that we can identify what worked and what didn't work in our robot.

Final Design

In our final design, we opted for a much simpler design. The robot was told to follow the walls of the field until an Infrared Beacon (2kHz) was detected, at which point the robot would follow up with its crown grabbing routine. When the robot obtains the crown, the robot proceeds to follow the walls back to its home castle. 

Finding Home

The robot is able to find its home castle, because it knows that the starting castle is 4 castles away from its home castle.

Counting Castles

To effectively count castles, we had to use the robot's internal timeout (a period in which no bump or tape sensors triggered an event) to effectively count the new location as a new castle. After 4 new castles are detected, the robot would declare the current castle as its home castle and it would proceed to drop the crown on the throne. A diagram of the robot's operation is shown below:

Conclusion

From our initial design, it's very obvious that we modified much more than a few things. Our robot's operation is much simpler, and we managed to get checked off with our current design. A video of the checkoff is shown below: