RACE

Reactive Autonomous

Coordinate ExecutorCreated by:

Neil Javalla

Dustin Torres

Derrick Yanga

RACE

•Path Programmable

•Avoids Obstacles

•Adaptable

Schematics

Programmed Path

Programmed Path

Programmed Path

Programmed Path

Programmed Path

Programmed Path

Programmed Path

Programmed Path

Components

Arduino One Speed Control

– Electronic speed controller

Steering Control– Servo

Arduino Two Detects Obstacles

– IR Sensor– Average algorithm

Sends obstacle data to Arduino one

– Wire

Detecting obstacle

Read IR data "in"

add "in" to running average.remove oldest value of

running average

yes

IS average > threshold ?

Obstacle = true

no_obstacle++

no

Is no_obstacle > 500 ?

no_obstacle = 0obstacle = false

yes

no

Timing Diagram

•The clock runs at 50Hz

•The speed controller gets sent a signal at the beginning of each clock cycle to determine the speed. We used a signal of 1270us

•Servo also gets a signal at the beginning of each clock cycle and it is variable

•1100us is complete right turn

•1500us is center

•1900us is complete left turn

Challenges

Surface trouble– On different surfaces the speed varies, which in turn changes the

angle and makes it hard for our car to be surface independent Servo trouble

– The servo was not exact and created a drift making it hard for the car to go straight

IR sensor trouble– Erroneous values can through off the sensing of objects

Battery trouble– Even with voltage regulators, a dieing battery will change the

current through our circuit, inevitably causing a change in speed