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4.5
Metrics............................................................................................................................................................................................ 31
4.6
Cost................................................................................................................................................................................................. 31
4.7
Stability........................................................................................................................................................................................... 31
4.8
Size ................................................................................................................................................................................................. 32
4.9
Adaptability .................................................................................................................................................................................... 32
4.10
Work in this Field...................................................................................................................................................................... 32
4.11
Survey of possible robots .......................................................................................................................................................... 34
4.12
Design Validation...................................................................................................................................................................... 36
4.13
Societal, Environment, and Safety Analysis .............................................................................................................................. 37
4.14
Feasibility Study........................................................................................................................................................................ 39
4.15
Objectives/Statement of Work................................................................................................................................................... 39
4.16
Management .............................................................................................................................................................................. 40
4.17
Scheduling................................................................................................................................................................................. 40
4.18
Budget ....................................................................................................................................................................................... 42
5.
Appendix............................................................................................................................................................................................. 44
5.1
Code for Token ring network with searching integrated................................................................................................................. 44
5.1.1
Init.bsp ................................................................................................................................................................................. 44
5.1.2
main.bsp ............................................................................................................................................................................... 45
5.1.3
RxRoutine.bsp ...................................................................................................................................................................... 49
5.1.4
TxRoutine.bsp....................................................................................................................................................................... 52
5.1.5
Dance.bsp............................................................................................................................................................................. 54
5.2
Code for final demo with limited network. ..................................................................................................................................... 56
5.2.1
Main.bsp............................................................................................................................................................................... 56
5.2.2
Dance.bsp............................................................................................................................................................................. 57
5.3
Code for testing for RF interference. .............................................................................................................................................. 58
5.3.1
Listen.bsp ............................................................................................................................................................................. 58
5.3.2
display.bsp ........................................................................................................................................................................... 58
5.3.3
spin.bsp ................................................................................................................................................................................ 58
5.4
Code for testing electrical interference. .......................................................................................................................................... 59
5.4.1
5.4.2
ServoTest.bsp ....................................................................................................................................................................... 59
escape.bsp ............................................................................................................................................................................ 59
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