Theoretically, when any of the bumps were activated, meaning there was a wall exist, the robot should back up and search for a new path. To handle the wall obstruction, bumper sensor modules were needed with Systic interrupts approach to quickly backup and return to the path. In addition, the robot should be able to handle corner cases such as when it hit the dead end of the line or being obstructed by surrounding object as shown in Figure 1 below. If the robot was not at the center, it should fix its path back to the center. When the robot stayed at the center position, it should go forward until the next instruction came. By obtaining the sampling values read from memory, we can categorize the reflectance into nine cases to determine the line positions as shown in Table 1 below. The first task was to test the IR reflectance of the sensor. Add more IR sensor that perpendicular to the current sensor to distinguish the black and white line since the fail case is when the robot perpendicular to the line which make it though as treasure and halt.Reduce the average time to reach the treasure ( 95%:.The following future improvement features are implemented: Main program for debugging and low priority tasks.Edge triggered interrupts for collisions.Periodic Timer A1 interrupts to run the high-level strategy.Retrack and go back to the line if lost.Able to drive robot forward, backward, left, right.Separate into different sernarios to determine the line position.Periodic SysTick interrupts to measure the line sensor.Interface with the IR reflectance module.The following required functionality is complete: Main program for debugging and low priority tasks. Periodic Timer A1 interrupts to run the high-level strategy.Įdge triggered interrupts for collisions. Rechargeable battery, pack of 6, metal hydride, 1300mAh, 1.2V, AA.Microcontroller - MSP432P401R MCU LaunchPad.To achieve the goal of the project, the robot should begin from the starting point on the platform, self-drive via the line, know how to find the right path to the treasure and how to back up for lost, and stop at the treasure spot. The project was a combinational lab with six modules: Module 6 for GPIO interface the line sensor, Module 10 for SysTick interrupts, Module 12 and 13 for bump sensor, motors and PWM control, and Module 13 for line follower building. The goal of the project was to integrate the line sensor and the bump sensor to solve a maze that searches for a treasure. Design a Line Follower Maze Robot using TI Robotics System Learning Kit.
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