|
Our Coffee Troll is actually made up of two different robots. The main robot is the actual troll, and the second robot is the robot attached to the coffee urn. The project works like this: A lego man is placed in the troll's jaw. There are a set of reflective sensors in the troll's jaw that senses the man. One is connected to the upper handy board, the other is connected to the lower handyboard. The upper handyboard starts the motor for the tongue immediately upon sensing the lego man. This motor is a small red lego motor with a piece attached. As the motor turns, the piece moves under the tongue once every rotation, to lift the tongue upwards. This causes the troll to effectively 'swallow' the lego man and store it in the back of its head until it is removed. After this is completed, two other red motors on the trolls arms tip over small cups of cream and sugar into the cup. They are locked in place with a wheel to an axel. Finally, the bottom handy board moves forward to find the coffee urn. White tape was placed on the spout, and another reflective sensor stops when it senses white. There is yet another one of these sensors actually on the spout that senses when the cup is beneath it. This triggers the cricket to the right of the urn to pull on the handle of the coffee urn, pouring coffee in. The Troll is carefully timed to back up after the coffee stops pouring, and to then stir the coffee. To see the code, click here.
|
|
