Testing
The Speed D8ers completely altered the code for the individual competition. Instead of relying solely on time-based navigation, the team utilized RPS to run the course during competition. During initial testing on March 26, the team used the course strategy depicted above, where the robot only utilized RPS on the lower level of the course and went to the control panel at the end of the run. However, team members decided that RPS would lead to greater consistency on the upper level, so they switched to the course strategy depicted below on March 28, where the control panel was the first destination.
Tests preceding the individual competition were focused on determining x and y coordinates for the RPS checks. Team members first tested with many RPS checks to get to the desired location, leading to very slow runs. Then, team programmers added time-based code for most movements and RPS heading and location checks before turns.
Competition
On March 30, 2018, the Speed D8ers’ pit assistant prototype competed three full-course runs in an individual competition in Hitchcock Hall. First, the OSURED representatives selected the course, fuel type, and electrical test for the prototype. Then, the course, fuel type, and electrical test were chosen at random. For the final run, the team chose the course, fuel type, and electrical test. OSURED representatives scored each robot based on the guidelines outlined below¹.
First Trial
In the first run at the individual competition, OSURED representatives selected Course H, nitromethane fuel (corresponding to a counter-clockwise turn of the fuel crank), and telemetry sensors test (corresponding to the blue button). The Speed D8ers’ robot successfully initiated on the start light before driving toward the diagnostic light. The robot incorrectly read the light, and it proceeded to press the red button instead of the blue button. It did press the RPS button, thus activating RPS on the upper level. The robot successfully aligned with, touched, and picked up the wrench before toggling the car jack. Then, it went up the ramp and headed toward the fuel crank. However, the prototype lined up too far to the right of the crank and turned it slightly in the incorrect direction. Then, it backed up and successfully deposited the wrench in the garage. The robot was unable to press the final button, so the team ended the run with the kill switch after 1 minute, 19 seconds, and 68 milliseconds. Overall, the robot earned 54 points for completing primary tasks and 8 additional points for completing secondary tasks, for a total score of 62 points.
Following the run, the Speed D8ers increased three angles for the turns leading up to the final button. Team members also noticed that the prototype did not use RPS on the upper level even though it was activated. Programmers located and corrected the error in the code that caused this problem. Although the robot failed to detect the blue diagnostic light, the team did not attempt to correct this error during the individual competition.
Second Trial
In the second run at the individual competition, Course G, 98 octane fuel (corresponding to a clockwise turn of the fuel crank), and the Electrical Control Unit (ECU) test (corresponding to the red button) were randomly selected. The robot successfully initiated on the start light before driving toward the diagnostic light. It correctly read the light and pressed the red button, but not the RPS button. The robot successfully aligned with, touched, and picked up the wrench before toggling the car jack. Then, it went up the ramp and headed toward the fuel crank. However, the prototype again lined up too far to the right of the crank and turned it slightly in the incorrect direction. Then, it backed up and successfully deposited the wrench in the garage. The robot successfully pressed the final button, but it rubbed against the wall on its way down the concrete ramp. The run lasted for 1 minute, 12 seconds, and 10 milliseconds. Overall, the robot earned all 75 points for completing primary tasks and 8 additional points for completing secondary tasks, for a total score of 83 points.
Following the run, the team added two inches to the distance traveled on the concrete path before turning to go down the ramp. This was done to avoid rubbing against the wall. The team also adjusted the distance traveled to get to the red button from the diagnostic light so the robot would be closer to the white button. Otherwise, the Speed D8ers were satisfied with the code and the robot’s performance.
Third Trial
In the final run at the individual competition, the team selected Course G, 98 octane fuel (corresponding to a clockwise turn of the fuel crank), and the ECU test (corresponding to the red button). The robot successfully initiated on the start light before driving toward the diagnostic light. It correctly read the light and pressed the red and white buttons, thus activating RPS on the upper level. The robot did not align with the wrench enough to pick it up, but the wrench was touched and knocked over. Then, the robot toggled the car jack before driving up the ramp and turning toward the fuel crank. However, the prototype lined up too far to the right of the crank using RPS. It did turn the crank slightly in the correct direction. Then, it backed up and drove to the garage, but it did not have anything to deposit. The robot successfully pressed the final button, but it ran into the blue diagnostic button after coming down the ramp, thus negating its points for pressing the correct electrical button earlier in the run. This run lasted for 1 minute, 22 seconds, and 72 milliseconds. Overall, the robot earned 63 points for completing primary tasks and 10 additional points for completing secondary tasks, for a total score of 73 points.
Modifications
Following the individual competition, the Speed D8ers considered implementing several modifications. First and foremost, the robot failed to align with the fuel crank on all three trials during the competition, so the team needed to modify the code on the upper level with and without RPS. The team also needed to modify the code on the robot’s route from the garage to the final button due to inconsistencies and errors made during the individual competition. Previously, the team did not use RPS on this route, but team members considered utilizing the technology to maximize precision. The robot did not consistently pick up the wrench, so the team considered modifying the course strategy to pick up the wrench first, toggle the fuel jack, and then head to the control panel. The robot also struggled to press the white button to activate RPS consistently. The Speed D8ers discussed pressing the buttons with the fuel crank mechanism to increase the area pressing the buttons and potentially increase consistency. Finally, team members noticed that the left IGWAN motor was tilted, so they planned to address that area of concern before the final competition.
Ultimately, the team did not have time to create a consistent update to the code on the upper level or from the garage to the final button. Rather than altering the course strategy to pick up the wrench first, team members decided to add an RPS check to ensure that the wrench was picked up each time. The team also increased the power at which the buttons were pressed to increase the consistency of pressing the white button to activate RPS on the upper level. Finally, the team purchased an additional IGWAN mount so the left motor did not tilt, but the left motor weakened through testing so the team spent a large portion of time before the competition attempting to correct the motor discrepancies so that the robot could get up the ramp.