Group Four
Catherine Fahey, Steven Falzerano,
Nicollette Fernandez, Eliot M. Fine and Stefan Toubia

To create a robot that follows a course laid out in black tape, make a u-turn, and return to the starting line following the tape again.
In doing so, we can learn more about Interactive C programming and the Handyboard.

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Handyboard
2 motors
2 analog light sensors,
Lego's (this includes treads, wheels, and gears)

 We chose:
 Treads: because the robot was able to make the adjustments more easily, and also the robot got more traction
 Gears: because the motors were too weak to actually move the robot

} void main(){ int lap; lap=0; while(start_button()==0){} while(1){ if(analog(5)<200 && analog(6)<200){ motor(1,100); motor(3,100); // if the light sensors read white then both motors go forward at a speed of 20
} else if(analog(5)>=200 && analog(6)<200){ motor(1,-100); motor(3,100); // but if analog 5 reads dark (the black tape), then the robot will turn right
} else if(analog(5)<200 && analog (6)>=200){ motor(1,100); motor(3,-100); //but if analog 6 read dark, then the robot will turn left
} else if(lap==0 && analog(5)>=200 && analog (6)>=200){ motor(1,-100); motor(3,100); sleep(1.5); //the robot reads dark, then the robot will make a u-turn and head to the start line while(analog(5)<200{};
}
} lap ++; //new lap, repeats above but goes to next statement when reaches start line else{ ao();// robot turns off once at start line again
}

 Friction
 Our original design (3 wheels: 2 with tires, 1 without), did not pick up enough friction
 Switched to treads
○ Motors were too weak, so we had to add gears to help give more force

 A piece of equipment that rotates about an axis
 Uses centrifugal forces to separate substances
 Heaviest molecules move to the bottom of the tube
 Used in biology, chemistry, and aeronautics
 Separate substances
 Meselson and Stahl experiment


Used: IR “Top-Hat” sensor, scotch tape and a cuvette, gears, wheels
 Constructed:
 Base of legos
 Motor with gears to create an axel
 T-shaped crossbar attached to the axel
 One side had a cuvette the other had a counterweight
 Tires attached to base to act as shock absorbers and supports
*Note: need white paper behind cuvette

die Windmühle

Code
} void main(){ int speed=0; float separation_time=5.0; float ramp_time=0.1; printf ("\nHold Down Start Button to Take Readings"); while (start_button()==0) {} while (start_button()==1) { printf ("\nAmount mixed is %d", analog(3)); sleep (0.2);
} while (speed<=100) { printf ("\nSpeed is %d",speed); motor (1,speed); sleep (ramp_time); speed++;
} sleep (separation_time); while (speed>0) {
// Time, seconds, that centrifuge will spin
// Time, seconds, between speeds
// Top-Hat reads while button is pressed
// Speed gradually increases from 0 to 100
// Centrifuge spins for specified time at 100
// Speed gradually decreases from 100 to 0 printf ("\nSpeed is %d",speed); motor (1,speed); sleep (ramp_time); speed--;
}
} ao(); while (speed==0) { // Everthing shuts off and Top-Hat reads again printf ("\nMixation
= %d, Did they separate?”,analog(3)); sleep (0.2); http://tinypic.com/player.php?v=34njo6s&s=4

Trial #
Sensor
Rading
(before separation)
Sensor Reading (after separation)
Ramp UP
Time (s)
Time to
Separate (s)
Ramp
DOWN
Time (s)
3
4
5
1
2
13
12
24
10
9
Oil
128
118
122
88
95
Water
9
8
10
10
13
0.1
0.5
0.1

 We learned:
○ From the Robot:
○ Treads are slower but they have more traction
○ Going from big gears to small gears increases speed and from small gears to big gears increases torque
○ A sturdy frame is crucial
 Improvements:
○ Our code could have had a slower, more careful turn, so that it would not whip around
 Improvements with the centrifuge:
○ Faster motors, more durable parts, more easilyremovable cuvettes, a built-in IR sensor
○ The code did work extremely well though