Bender the Offender Final Presentation Chris Wells.
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Transcript of Bender the Offender Final Presentation Chris Wells.
![Page 1: Bender the Offender Final Presentation Chris Wells.](https://reader035.fdocuments.us/reader035/viewer/2022062407/56649f4e5503460f94c6f6b1/html5/thumbnails/1.jpg)
Bender the Offender
Final Presentation
Chris Wells
![Page 2: Bender the Offender Final Presentation Chris Wells.](https://reader035.fdocuments.us/reader035/viewer/2022062407/56649f4e5503460f94c6f6b1/html5/thumbnails/2.jpg)
Overview
Bender will look for two specific colorsSeeing Red will make Bender want to run
awaySeeing Blue color will make Bender
aggressiveBender will also be able to seek out dark
hiding places
![Page 3: Bender the Offender Final Presentation Chris Wells.](https://reader035.fdocuments.us/reader035/viewer/2022062407/56649f4e5503460f94c6f6b1/html5/thumbnails/3.jpg)
Collision Avoidance
2 Front-Mounted Sharp IR SensorsEach sensor’s value is the avg of 10
measurements
Movement via 2 hacked servosExample of movement function:void left_stop()
{
if (LEFT_SPEED > LEFT_STOP)
LEFT_SPEED += -2;
}
![Page 4: Bender the Offender Final Presentation Chris Wells.](https://reader035.fdocuments.us/reader035/viewer/2022062407/56649f4e5503460f94c6f6b1/html5/thumbnails/4.jpg)
Light/Dark SeekingArray of Photo-resistors on topWhen Bender is in seeking mode, data
from the photo-sensor supersedes collision avoidance
while(1)
{DARK_FOUND = 0;if (HIDE_STATE)
DARK_FOUND = light_sensor();if (!DARK_FOUND)
collision_avoidance();}
![Page 5: Bender the Offender Final Presentation Chris Wells.](https://reader035.fdocuments.us/reader035/viewer/2022062407/56649f4e5503460f94c6f6b1/html5/thumbnails/5.jpg)
Special Sensor
Front-Mounted CMU CameraIdentify and react to seeing blobs of Red
or BlueFirst look for Red blob
If found, Bender will stop looking and runIf not found, check for Blue blob
If this color is found Bender will attack
![Page 6: Bender the Offender Final Presentation Chris Wells.](https://reader035.fdocuments.us/reader035/viewer/2022062407/56649f4e5503460f94c6f6b1/html5/thumbnails/6.jpg)
Special Sensor
Code for the CMU CameraSend the following via serial interface to
the CMUSend “TC 150 255 0 30 0 30\r” If a value is picked up go into run/hide modeIf not, send “TC 0 30 0 30 150 255\r” If a value is picked up, turn Bender based on
X value returned.
![Page 7: Bender the Offender Final Presentation Chris Wells.](https://reader035.fdocuments.us/reader035/viewer/2022062407/56649f4e5503460f94c6f6b1/html5/thumbnails/7.jpg)
Current Form
![Page 8: Bender the Offender Final Presentation Chris Wells.](https://reader035.fdocuments.us/reader035/viewer/2022062407/56649f4e5503460f94c6f6b1/html5/thumbnails/8.jpg)
Future Work
Mounting and coding the photo-sensorsTracking for the CMU cameraActuation – have a servo activate based
on CMU dataMisc body work – not just rely on glue and
tape to hold everything together