Mr. Plow
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| Hive13 Project |
|---|
| Sumobot |
| [[<flickr>5088054528|200px]] |
| Status: Complete |
| Start Date: 10/05/2010 |
Overview
Summary
Mr. Plow is the Hive13 Housebot. This means it's a bot that isn't any one persons sumobot but is the groups sumobot. All the info to build it is publicly available via github:
Project Manager
Contributors
Goal of the Project
The original goal of this project was to build a sumobot for the LVL1 hackerspace competition on Oct 29, 2010. Since then it has just become the resident sumobot of the hive. Tinker with it, build new AIs for it, whatever.
What needs to be done
Code cleanup. We were not able to finish all the sensor work for the competition and the goal is to finish it up right for the competition on April 16, 2011.
- The front sensors need to be reworked to work with the existing AI
What has been done
The bot is built and functions (mostly). Here a list of the issue encounter in de-bug:
- sonic sensor need a delay between shooting left and right, or the second to shoot will receive the wave bouncing back from the first sensor, and consequently returning something wrong!
Propulsion issue, Mr Plow was always turning left (I hope it's now fixed with the updated design), here some of the causes I looked into
- Voltage coming from motor shield not proportional, did run some test varying speed of the for output at different speed, not an issue. M1/M2 starting at lower voltage than M3/M4 at a set speed.
| m|thumb</flickr> |
- Forward and backward speed for The GM7 motor run at same speed forward and backward, you can build a tachometer, by using the IR sensor and some white tape on the wheel, works well found out that the left motor is faster, and that there's no difference between forward and backward
| m|thumb</flickr> |
- Parallelism is key for the motor I noticed that because the wheel were not correctly center, the spinning is not true, and the bot is alternatively turning left and right, proposed fix is to solder the axis with the wheel to keep the axis in the center
- motors were not at the same height, right motor was slightly lower, giving more traction to the right wheel and consequently the bot was turning left, hope that the latest design will help to correct that issue (motor will be mounted flat, see picture of 3D model below)
Gallery
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The LVL1 Competition video:
Work Log
This is a living log of work that has been completed on the machine.
Apr 7, 2011 - New chassis and plow
Just finished the new 3D model for Mr Plow, will go to the Hive this coming saturday to print it and test it
Feb 16, 2011 - Updated wiki to reflect current state
General info and TODO updated for the April 16th, 2011 competition
Jan 23, 2011 - Moved SVN to Git
All the code from the original LVL1 competition that was in SVN was just moved to a public git repostiroy: