@@ -192,7 +192,7 @@ The implementation is found on GitLab[9].
...
@@ -192,7 +192,7 @@ The implementation is found on GitLab[9].
#### Bumpers
#### Bumpers
By discarding the motor and the ultrasonic sensor, we suddenly had a bit more weight to play with, so we could remount our back wall with touch sensors. And because we no longer needed a sensor port for the ultrasonic sensor, we were able to separate the front wall from the three other walls. The change picture below.
By discarding the motor and the ultrasonic sensor, we suddenly had a bit more weight to play with, so we could remount our back wall with touch sensors. And because we no longer needed a sensor port for the ultrasonic sensor, we were able to separate the front wall from the three other walls. The change picture below.
Image 4: The robot after removing the ultrasonic sensor and adding touch sensors in the back.
Image 4: The robot after removing the ultrasonic sensor and adding touch sensors in the back.
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@@ -209,13 +209,15 @@ We tried setting the motor speed to the maximum possible. This resulted in the r
...
@@ -209,13 +209,15 @@ We tried setting the motor speed to the maximum possible. This resulted in the r
We also found that we could get more force by making the robot drive the other way, one reason was that we realised that if the front bumper was pressed, the wheels had a small friction against our construction, but also our weight distribution was more fitting for the robot to drive “backwards”, so we modified the robot to drive the other, which was the final modification to the robot and can be seen in the picture below.
We also found that we could get more force by making the robot drive the other way, one reason was that we realised that if the front bumper was pressed, the wheels had a small friction against our construction, but also our weight distribution was more fitting for the robot to drive “backwards”, so we modified the robot to drive the other, which was the final modification to the robot and can be seen in the picture below.
Our final implementation can be found on GitLab[8].
# Conclusion
# Conclusion
We have been very limited by the weight limitation, because of our vast amounts of sensors and especially the rcx cables. We have found that a motor mounted ultrasonic sensor is simply too slow to use in a sumo fight, a solution could have been to use two ultrasonic sensors, but we did not have weight or sensor ports to spare. Most interestingly is our experience with using multiple touch sensors connected to the same port through rcx cables. It was surprising how well we could distinguish the sensors solely because of small differences in the measured raw value.
We have been very limited by the weight limitation, because of our vast amounts of sensors and especially the rcx cables. We have found that a motor mounted ultrasonic sensor is simply too slow to use in a sumo fight, a solution could have been to use two ultrasonic sensors, but we did not have weight or sensor ports to spare. Most interestingly is our experience with using multiple touch sensors connected to the same port through rcx cables. It was surprising how well we could distinguish the sensors solely because of small differences in the measured raw value.
