GPS Program Mods, Antenna Mount, New Chassis Idea, Motor Testing- Matt/Mike/Patrick

Tuesday 3/4

Matt refined the GPS program even more.  It is now accurate with in a few degrees.  Since he is done with the basic program, he and Dr. B decided to add a few more options.  Matt added an option for remote control (RC) and sentry only.  The user can now pick 3 options: autobot, RC, and sentry.  The autobot mode allows the user to enter a destination GPS coordinate.  The robot would then try to move to that location, looking for targets along the way and then react accordingly.  The RC mode allows the user to control the robot and "fire" the laser/nerf gun.  The sentry mode as the name implies makes the robot a guard... meaning it stays one spot and "shoots" any threats it detects.  This could be used in a building.

Mike mounted the GPS antenna so the range would be greater.  This antenna mount was not permanent just for testing.  A more stable and sturdier mount will be assembled on a new stronger chassis.  Mike also researched some new potential chassis builds to make "Shela," our robot stronger, (lighter?) and sturdier than our current chassis.  He found some inspiration on Google search for tank chassis. He then researched how to mount and modify the nerf gun.

I, Patrick, refined the basic motor program so the robot would turn only slightly in either direction.  I found the values for motor speed control were not what they should be...
       0 for full speed in one direction, 180 for full speed in opposite direction, and 90 for stop.  It turns out 30 was full speed in one direction, 160 for the other, and 90 for stop.
       Using this information, I made a small test program that had the robot turn roughly 10 degrees in each direction.  This is so the robot can avoid obstacles a bit easier when movie to a new location.  As class continued on, I realized that a new stronger chassis was a must.  I came up with a basic idea to use similar side rails to that of Project Palmer.  Dr.B then went over how to wire a master switch as a refresher.

Antenna Mount Test

Project Palmer's Basic Chassis - New Chassis Idea For Us