Some specifics, The prototype in detail.

Now that i have shared the global idea of Tommy, it is time to share some insights in what I have done, the logic. 

First tough, here a link to the full report in Dutch.

So how is Tommy going to work?

This is the flowchart that globally describes the processes that have to be completed for all tasks to be completed. 

To run you trough it, we start at set/reset, a button that primes the robot for competition. Then its on to the main loop, it consists of Drive (rijden), crossover point (kruispunt), and Pick&place. These are the main 3 tasks that have to be completed, so this is the start and end for any action the robot takes. 

Driving consists of 3 tasks, the first is bringing the arm and hand to the maximum position, so that when the crossover point is detected the arm is in position. The second and third task are moving forward at a constant speed, and steering the robot if the line makes a turn. These two tasks require constant input, so they are outsourced to a second processor.

   

Crossover point is the process of detecting the serving tray, and stopping exactly on the specified point. This starts by sensing the crossover in the line, then stopping the robot, and adding 1 to a counter.

Pick & Place is the final task, picking up the bottle, or putting it down. This process follows directly after the robot has been stopped, and consists of lowering the arm, until it the cylinder has been placed over the bottle, filling the air cushions, and adding 1 to the bottle counter. 

When the bottle is in the firm grip of our prototype the program starts from the start by bringing the arm to its maximum height. 

As always we needed to test our concept.

please note the difference between our prototype (left) and Tommy (right)

Feedback on the past 8 weeks will follow later today, so when that has been finished I will post it here.