Since our robot is unable to
incorporate both movement and precision, we have decided to position
the robot directly in front of the candle to increase its chances of
extinguishing the flame. To increase the accuracy of the robot, we
decided to increase the range which the shaving cream would shoot. We
did this by swiveling the vehicle back and forth as the robot sprays.
We turned motors b and c on in opposing directions, alternating
directions every few seconds. This allowed for a greater margin of
error in the placement of the flame.
To make the robot more
autonomous and interesting to an audience, we have placed an infrared
sensor on the front of the robot that will detect when the candle is
lit. At this point, extinguishing procedures will begin.
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Our final robot, preparing to extinguish the candle!
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Code used by the robot:
to extinguish
launch [waituntil [(sensor 0) < 250] ;;senses the candle is lit
b, thisway on loop [wait 30 rd]] ;;turns b on
launch [waituntil [(sensor 0) < 250]
c, thatway on loop [wait 30 rd]] ;;turns c on in opposite direction
launch [waituntil [(sensor 0) < 250]
a, thisway on ;;turns trigger pressing motor on
wait 140 ;;waits while it extinguishes, swivelling
a, thatway ;;reverses trigger motor, to stop spray
bc, off ;;stops swivelling
wait 80 ;;waits while trigger returns to original position
a, off ] ;;turns trigger motor off
end
Last updated January 25,
2000