East Zone DSTA-DSO Robotics Challenge 2019

Contributers: Jonathan Loh (8059A), Aloysius Wong (8059X)
Robot built by: Marcus Wong (8059A), Jaren Chen (8059A), Ng Zhi Kang (8059A)

Challenge Site can be found at: https://sites.google.com/vjc.sg/ez-robotics-challenge-2019/home

Robot Specifications

• 2 motor 1 side base connected to end of a joint from the center of the circle (Think circular motion)
• Double claw mechanism
• Piston to shift double claw mechanism towards and away from center of circle
• 2 Piston to drop mechanism onto cube
• 2 Vision sensor

Code

• initialize.cpp: Perpetual while loop to wait for start button
• func.cpp
  • encdPerDeg: Specifies a scaling to convert average encoder counts on base to degress of arm turned
  • kP, kD: Specifies PD constants for base
  • armControl: Task to control base
  • setArm: Set target for base to move to
  • getNearestPos: Used when blocks have reached 1 cycle and not all have been sorted. Uses a set to determine which blocks have not been sorted and returns position of the nearest block
  • getColor: Based on cubeInFClaw, determine which vision sensor to use (ie the opposite of cubeInFClaw) and return the position where the cube is to be placed
  • dropCube, pickupCube: Does what it says
• display.cpp: All code to display a timer, start button and log files
• autonomous.cpp: Driver program

Colour Map

Position	Angle	Colour
1	0	Red
2	45	Orange
3	90	Green
4	135	Yellow
5	180	Blue
6	225	Purple
7	270	Pink
8	315	Gray