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Table of Contents
1.
Implementation Notes .......................................................................................................................................................................... 3
1.1
Introduction ...................................................................................................................................................................................... 3
1.2
Global Variables ............................................................................................................................................................................... 3
Byte ....................................................................................................................................................................................................... 3
1.2.1
Token...................................................................................................................................................................................... 3
1.2.2
Found ..................................................................................................................................................................................... 4
1.2.3
NextNode................................................................................................................................................................................ 4
1.2.4
Route Table ............................................................................................................................................................................ 4
1.2.5
Invite ...................................................................................................................................................................................... 4
1.2.6
ID ........................................................................................................................................................................................... 4
1.3
Finite State Machine......................................................................................................................................................................... 5
1.3.1
Initialization........................................................................................................................................................................... 5
1.3.2
Joining ................................................................................................................................................................................... 5
1.3.3
Inviting ................................................................................................................................................................................... 6
1.3.4
Idle (Search Algorithm).......................................................................................................................................................... 6
1.3.5
Monitoring ............................................................................................................................................................................. 7
1.3.6
Have Token ............................................................................................................................................................................ 7
1.4
Code Outline..................................................................................................................................................................................... 7
1.4.1
init.bsp.................................................................................................................................................................................... 8
1.4.2
mainRoutine.bsp..................................................................................................................................................................... 8
1.4.3
TxRoutine.bsp......................................................................................................................................................................... 8
1.4.4
RxRoutine.bsp ........................................................................................................................................................................ 9
1.4.5
dance.bsp ............................................................................................................................................................................... 9
1.5
Hardware ........................................................................................................................................................................................ 10
1.5.1
Servos................................................................................................................................................................................... 10
1.5.2
Infrared circuit..................................................................................................................................................................... 10
1.5.3
Photo resistors ..................................................................................................................................................................... 11
1.5.4
Radio Frequency Transmitter, Receiver, and Antennas....................................................................................................... 12
User’s Manual .................................................................................................................................................................................... 13
2.
2.1
Introduction .................................................................................................................................................................................... 13
2.2
Activating the Robots ..................................................................................................................................................................... 13
2.3
Running the Search......................................................................................................................................................................... 15
3.
Course Debriefing .............................................................................................................................................................................. 16
3.1
Group Management ........................................................................................................................................................................ 16
3.2
Safety and Ethical Concerns ........................................................................................................................................................... 16
3.3
Final Analysis of Solution .............................................................................................................................................................. 16
3.4
Interference from the Servo Motors................................................................................................................................................ 17
3.4.1
Electrical Interference.......................................................................................................................................................... 17
3.4.2
Solutions............................................................................................................................................................................... 18
3.4.3
RF interference..................................................................................................................................................................... 23
3.4.4
Solutions............................................................................................................................................................................... 23
3.5
Conclusion...................................................................................................................................................................................... 25
4.
Proposal .............................................................................................................................................................................................. 26
4.1
Purpose ........................................................................................................................................................................................... 26
4.2
Background..................................................................................................................................................................................... 26
4.3
Problem Statement.......................................................................................................................................................................... 28
4.4
Design Constraints.......................................................................................................................................................................... 29
4.4.1
4.4.2
This project must:................................................................................................................................................................. 29
This project should: ............................................................................................................................................................. 30
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