Video of Performance Test 1
Preparations
For the first performance test, the robot needed to be able to drive to the upper surface of the course using either the temporary access ramp or the main construction ramp. Additionally, bonus points were awarded if the robot could accurately read the color of the fuel light.
In preparation for this performance test, much testing and building was done. First, the robot was assembled, and it was determined that the robot could drive sufficiently straight in increments of 45°. Also, the robot navigation depended on time and four bump-switches at this time. Using time worked to navigate for the short term, but the lack of consistency indicated that methods such as RPS, line following, and/or shaft encoding would need to be implemented in order to ensure perfect runs. Also, it was determined that allowing the robot to drive at non-increments of 45° would allow for increased maneuverability. For example, this allowed the robot to stay tight to walls when navigating the course. Next, the corners of the PVC base were rounded to prevent the robot from catching on any sharp edges of the course. A full description of all the tests conducted is given in the Testing Log. An image of the robot at this phase is given below.
Performance Test 1 Passer
Path Taken
For the first performance test, the robot followed the path shown in the figure below. The robot left the starting block at signal of the red light and ran directly into the wall to the right. Then, it rode along the wall until its bump switches were no longer activated. Afterwards, it navigated the access ramp using bump switches. Finally, it left the access ramp, rode along the wall up to the fuel delivery light, and read the color of the light.
Performance Test 1 Path Taken