Assignment Overview

This assignment requires the use of the Arduino and Robot Shield provided by the department to develop a program enabling a robot to navigate an obstacle course. Key features include:

• A 4 cm wide path.
• Obstacles no larger than the robot’s storage box.
• Barcode signs for “start recording” and “stop recording and playback,” with specified dimensions and stripe spacing (4 cm and 8 cm, respectively).

The assignment emphasizes Arduino C programming and robotics application design, with a focus on:

• Creating data structures for sensor readings and motor commands.
• Effective use of the setup() and loop() functions.
• Following defensive programming principles.
• Designing control algorithms (e.g., collision avoidance).
• Testing programs.
• Evaluating robot performance.
• Providing accurate documentation.

Assignment Structure

The assignment consists of three major components:

1. Functional Requirements (60% of marks)
2. Testing (15% of marks)
3. Report (25% of marks)

Functional Requirements (60%)

This section includes the following four tasks:

1. Working with Light Dependent Resistors (LDRs) – 15%

• Measure and record values from three LDR sensors on black and white surfaces under different lighting conditions.
• Steps:
  1. On a white surface:
     • Record 10 values with room lights on and calculate the mean.
     • Repeat in dim lighting conditions.
  2. On a black surface:
     • Repeat the above steps.
• Present results as a graph showing the relationships between surface colors and lighting levels.

2. Line Following and Obstacle Detection – 30%

• Tasks:
  • Follow a black line on a white background.
  • Detect obstacles, stop the robot, flash an orange LED, and resume movement when the obstacle is removed.
  • Identify and decode barcode signs for “start recording” and “stop recording and playback.”
  • During “start recording,” record movements for playback without the line after encountering the “stop recording” sign.

3. Robot States – 10%

• Define robot states and indicate them with LEDs:
  • Orange LED flashes when an obstacle is detected.
  • Red LED remains on during recording.
  • Green LED flashes during playback and remains steady after playback completion.

4. EEPROM Usage – 5%

• Store calibration values for sensors and actuators in EEPROM to enable portability across different robots.
• Use the following memory map:

Testing (15%)

• Present a testing table in the report appendix summarizing the status of all hardware components.
• Test each component (e.g., push buttons, LEDs, LDRs, IR transmitter/receiver, servos).
• Debug using the Serial Monitor to print informative messages about test results.
• Perform behavior tests, such as evaluating the line-following success rate over 15 trials.

Example: A button variable changes correctly, indicating a passed test (debounce functionality works as intended).

Report (25%)

• Document all tasks, testing processes, and outcomes accurately, clearly, and concisely.
• Include results, code snippets, and insights to evaluate the robot’s performance.

This structured approach ensures clarity and supports the efficient completion of the assignment tasks.