Robo Rally Design Document - Fresno Unified School District · W e h a d t o p rog ram o u r rob o...

Robo Rally Design Document

Research Robots have explored more of space than astronauts. They have set down on

the Moon, Mars, Venus, Titan, Jupiter, and a few comets and asteroids. Robots can travel further and complete missions faster than a human. They can also return more scientific data from different planets. Using robots have proved to be more efficient in space.

Viking 1 was the first spacecraft to land on Mars. According to http://www.jpl.nasa.gov/missions/viking-1/, it was a two-part mission to investigate and explore. This included an orbiter and a lander. Viking 1 performed the first Martian soil sample. It did this by using a robotic arm and a special biological laboratory. The Viking 1 found no life but did help us understand that Mars is a cold planet with volcanic soil, with a weak carbon dioxide atmosphere. It also found evidence for ancient river beds and vast flooding. The orbiter used an imaging system, an atmospheric water detector, and an infrared thermal mapper. The lander used an imaging system, a gas chromatograph mass spectrometer, a seismometer, an X-ray fluorescence spectrometer, a biological laboratory, a weather instrument package, and a remote sampler arm. The arm that picked up the soil to test, is like the arms we use for our missions.

Voyager 1 and 2 are twin spacecrafts that are still currently exploring farther into space than anything has before. According to http://voyager.jpl.nasa.gov/mission/index.html, they were launched in 1977, making their journey 40 years and counting. They are both much farther away from Earth and the sun than Pluto. Voyager 1 made the historic entry into interstellar space in August 2012. Both spacecrafts are still sending scientific information about their surrounding through the Deep Space Network. The original mission was the exploration of Jupiter and Saturn. After making many discoveries there, the mission was extended. Voyager 2 went on to explore Uranus and Neptune. The Voyager 2 is still the only spacecraft to have visited those outer planets. The Voyager Interstellar Mission is the current mission. It will explore the outermost edge of the Sun’s domain. Both of the robots were built to do different missions, just like our robot.

The “Canada Hand” or “Dextre” is a robot that is attached to the International Space Station. According to https://www.nasa.gov/missions/shuttle/f_isshand.html and http://www.universetoday.com/43750/robots-in-space/, it is an arm that has two smaller arms connected to it. Dextre is used to handle delicate assembly tasks. Its two

http://voyager.jpl.nasa.gov/mission/index.html

http://www.jpl.nasa.gov/missions/viking-1/

http://www.universetoday.com/43750/robots-in-space/

https://www.nasa.gov/missions/shuttle/f_isshand.html

arms allow Dextre to transport objects, use tools, and install and remove equipment on the Space Station. Astronauts will operate the arm remotely from inside the Space station. Cameras allow the ISS crew to stay in the station for tasks that usually require a space walk. This helps the ISS crew explore more of space with less danger. This arm relates to our robot because we use arms to complete missions as well.

The technology we have now is already incredible. Technology advances more and more every year. These robots have made space exploration possible and way easier. As technology advances, so will the exploration of space.

Specifications:

● Length: 23.2 cm ● Width: 23.9 cm ● Height: 16.5cm

+ Primary Components 2 motors(B&C) 2 tires(Connected to B and C) 1 3D printed axel piece 1 Block Drop Tool 1 Missile Launcher 1 Missile Sweeper 1 Balloon Popper 1 Tack 1 motor for different missions(C)

Programming: There are five missions that need to be completed in the three minute round to earn points. We had to program our robot in order to complete these missions. The five missions are popping our balloon, throwing our block off of the table with a 3D printed piece, launching our missile onto our target, sweeping the opposing team’s missiles off of their target, and knocking the opposing team's block off of the center brick. Since there is only one three minute round, we must precisely program the robot to complete the missions in the least time possible. We used the application Balloon Pop: Our balloon pop uses a third motor. The program tells the robot get into position in front of the balloon. Then, the arm with the tac attached, swings down and pops the balloon. After the balloon is popped, our robot comes back to the home base to start a new mission. Our program for our balloon pop is below.

Missile Launch: Our missile launch also uses a third motor. The robot turns in the direction of the target before firing. We have the missile launcher propped up in front of a swinging arm. The arm swings and hits the latch to fire the missile. Then the robot backs up into home base. Our

program for our missile launch is below.

Missile Sweep: Our missile sweep uses an attachment at the back of the robot. The robot goes backward, sweeping out the opposing team’s missiles. Afterwards, the robot retreats back into home base. We adjust the placement of our robot at the start of the program according to where the missiles are landed. Our program for the missile sweep is below.

Block Drop: Our block drop uses a third motor as well.At the start of the program, the arm sets its place to pick up the block. Then, the robot inserts the arm into the hole in the middle of the block. After that, the arm flings the block off of the table. Finally, the robot returns to home base. Our program

for the Block Drop is below.

Block Sweep:

Testing:

Balloon Pop

Test # Time Modification made

1 8.73 Original

2 6.44 Turned up motors from 50 and -50 to 100 and -100

3 6.24 No modification made



Missile Sweep


1 4.44 Original- 100 speed

2 4.47 Bent shield down

3 4.37 No modification

4 Didn’t complete No modification

5 No modification

Missile Shoot

Test # Points Modification made

1 1 Original

2 2 Realigned trigger

3 0 No modification

4 2 Back to original alignment

5 2 Changed entire missile launcher

Block Bash


1 5.63 Original


3 5.2 Change motor speed from 50 to 100



Block Throw


1 Didn’t complete Original

2 Didn’t complete Changed speed from 50 to 100. Adjust block thrower

3 Didn’t complete Backs up after grabbing block

4 Didn’t complete After grabbing block, angle the block thrower so the block doesn’t slip off

5 Didn’t complete No modification

Cobras74_RoboRally Design Doc

For 20 years or more Canada has made a robot arm. The

robotic arm has a shoulder 2 DOF , an elbow with 1 DOF

and a 3 DOF wrist. The arm is routinely used as a mobile

work platform for the astronauts. They also use to

tossing satellites into space and retrieving faulty ones.

Several of these arms have been in service for twenty

years a true robot success.

This is more of a R/C car than a robot as it was

completely remote controlled from earth. The Sojourner

is a 6-wheeled vehicle of a rocker bogie design which

allows the travers of obstacles a wheel diameter (13cm)

in size. Each wheel is independently actuated and

geared(2000:1). The front and the rear wheels are

independently steerable. The Sojourner mobile robot

that ultimately explored the surface of mars.

NASA decided to develop a $288-million Flight

Telerobotics Servicer (FTS) in 1987 to help

astronauts assemble the Space Station, which was

growing bigger and more complex with each

redesign. Shown here is the winning robot design by

Martin Marietta, who received a $297-million contract in

May 1989 to develop a vehicle by 1993. About the best

thing that can be said for the FTS project was that it

generated a lot of lessons learned. The robot never flew

and never will fly because it was never completed. This

project demonstrated that fault-tolerance gone wild will

doom a robot. The robot had so many redundant

systems that there was just too much to go wrong.

http://www.learnaboutrobots.com/space.htm

http://mars.nasa.gov/mer/home/

http://www.asc-csa.gc.ca/eng/canadarm/

Specifications:

12" x 9" x11"

2 motors for driving in ports A,B

Top motor for balloon pop, block pickup


http://mars.nasa.gov/mer/home/

http://www.asc-csa.gc.ca/eng/canadarm/

Programming

This is the block pickup program the first 2 parts are to get the block the next 4 parts are to take the

block out of the arena the last 2 parts are to take the robot back to begging.

This is the balloon pop mission the first 2 parts are for to drive up to the balloon the next 2 are to pop

the balloon the last 2 parts are for taking the robot back to the begging.

This is the missile shoot the first 2 parts are to move closer to the target the 3 part is to back up the 4

part is to shoot the missile.

This is the sweep the first part is to drive straight to move any missiles on the target the next part is to

come back to the begging and remove any missile it missed.

Testing

Balloon Pop Mission

Fail/Success Notes Modifications

Fail I didn’t make it all the way to the balloon .

I made the rotations longer to make it.

Fail I didn’t pop the balloon. I made the rotations a little longer to make it.

Fail/Success I popped the balloon but I didn’t make it all the way back

I made the rotations for coming back longer.

Success I popped the balloon and I made it all the way back.

I didn’t change it because I made it all the way.

Block pick up


Fail I didn’t pick up the block I changed the way the block and the spot my robot was.

Fail I didn’t drop the block out of the arena

I changed the rotations so I could dropped the block out .

Fail/Success I didn’t make it back to home base I picked up the block and dropped it out.

I changed the rotations so it can make it back to home base.

Success I picked up the block I dropped it out and I made it back to home base.

I didn’t change it because i made it all the way by picking up the block dropping it out and come back to home base.

Missile shoot


Fail I didn’t shoot the missile on the target.

I changed the rotations so that it could make the missile get to the target

Fail I didn’t move the robot enough to make the missile onto the target.

I changed how much the robot moves so I could get the missile onto the target.

Fail/Success I made the missile on to the target but I couldn’t get the most amount of points.

I changed the amount of movement so that it could land in the middle of the target so I could get the most amount of points.

Success I made it into the middle of the target and got the most amount of points

I didn’t change anything because I made it perfectly into the target.

Sweep


Fail I didn’t make it all the way to sweep the missile.

I changed the rotations so the robot could sweep the missiles

Fail I didn’t make back to home base. I changed the rotations so I could make it back to home base.

Fail/Success I didn’t make the robot back to home base but I did push the missiles out of the target.

I changed the rotations just a little to make it back to home base.

Success I pushed the missiles and came back to home base.

I didn’t change anything because I did the mission and I don’t have to change it.

DA-ONE Baird Middle School

Testing

We tested the robot several times to see how it worked. We had several problems throughout

the building period that we had to fix. First the robot wouldn’t stay upright and we couldn’t add more

motors so we put back wheels. There was a problem when trying to turn the robot because we only had

one motor. Then we had to add more motors to the robot to make it turn correctly. That’s when we

realized we kept the motors in a stuck spot so the turning still didn’t work so we had to make them

loose. Later on we had to measure the distance of the robot and so we did that to. We had also Tested

how well are robot shot, picked up, and scooped objects. They all needed a few adjustments to them

but they had all worked out eventually.

Specifications

When we had finished building the robot we ended up using four motors on it. Two of the

motors that we used were for the wheels and one motor is for the attachment and the claw. The final

motor that we are using is for launching the missile and for holding the thumb tack that will pop the

balloon. Our robot is about 10.5 inches long, about 7 inches tall, and about 6 inches wide.

Research

This is relevant to our cause because it isn’t a manned space craft there is no one on it. So they have to

control it from earth like how we cant ride the robot. They also have the robot preprogrammed to do

certain task like us. They make the robots pick up rocks, navigate space, and planets. Like how our robot

will do the block transfer and the block drop with the attachment. This is the URL on space.com about a

robot arm that catches asteroids like ours that picks up the blocks. http://www.space.com/34834-nasa-

asteroid-mission-robot-prototype-photo.html . And here is another website about all the different

robots they build. https://www.nasa.gov/mission_pages/station/research/news/robotics_in_space .

Programming

We had programmed our robot to do all of the tasks that are listed in the Robo Rally event. We

had programmed it to do navigation like moving forward, backward, and turning. We had also

programmed it to shoot a missile, grab a block, go to and pop a balloon, and to transfer a block.

Specifications (pictures)

http://www.space.com/34834-nasa-asteroid-mission-robot-prototype-photo.html

http://www.space.com/34834-nasa-asteroid-mission-robot-prototype-photo.html

https://www.nasa.gov/mission_pages/station/research/news/robotics_in_space

This is the front view.

This is the robot with the attachment.

This is the attachment

not on the robot.

And finally this is the

side view of the robot without the attachment.

Design Document

Research: NASA Johnson Space Center built and designed a robot called “Robonaut”. Robonaut is a humanoid that is built to help humans work and explore in space. Robonauts will expand our ability for construction and discovery. From the effort put into this, we can use something called dextrous manipulation, an ability to use one's hand to do work, and our challenge has been to build machines with dexterity that exceeds that of a suited astronaut. One advantage of a humanoid design is that Robonaut can take over simple, repetitive, or especially dangerous tasks on places such as the International Space Station. Because R2 is approaching human dexterity, tasks such as changing out an air filter can be performed without modifications to the existing design. Robonaut is similar to the Dream Team robot because both robots are used to complete a variety of different tasks. Mars Science Laboratories programmed and built a rover called “Curiosity Rover”. This robot is programmed to search areas of Mars for past or present conditions favorable for life, and conditions capable of preserving a record of life. The robot has different features to help it complete different task. These features are rocker-bogie suspension, rock-vaporizing laser and lots of cameras. The Curiosity Rover is similar to the Dream Team robot because like the Curiosity Rover our robot has different features for it to help complete different tasks. Kirobo is a robot in space made by robot designer, Tomotaka Takahashi. Kirbo’s mission is very unique and special, to help solve the problems brought about by a society that has become more individualized and less communicative. Nowadays, mostly everyone is lonely, it’s not just the elderly. Kirbo has been seen on the ISS talking with his friend, the Japanese and ISS commander, Koichi Wakata. With human interference, it’s a cool experience to talk to him. Kirbo has also sent video messages to his fans on Earth. How does Kirbo relate to our robot? Kirbo uses human interference technology to be able to communicate. Our Dream Team robot can be controlled by us interfering with it and making it accomplish tasks. It can also measure data, which we use to make programs. Source 1: Robonaut 2 Source 2: Curiosity Rover Source 3: Kirobo

https://robonaut.jsc.nasa.gov/R2/

http://mars.nasa.gov/msl/

https://www.cnet.com/news/japans-iss-kirobo-robot-is-lonely-in-space/

Specifications: The dimensions of our robot is 22.2cm by 16.5cm by 11.5cm. We have two motors for our wheels and one wheel to either use as an arm and a trigger. Main Components: 2 Motors to accelerate (A and B) 2 Large Wheels 1 Balloon Popper 1 Missile Launcher 1 Missile Sweep 1 3D Printed 1 Tack 1 NXT 1 Task Bot Wheel 1 Motor (Arm) Pictures

Missile Launcher and Missile Sweeper Robot and Balloon Popper Programming: Out of all the things we did, programing had to be the hardest. Making a program that got out of a box, did a certain task, and come back is not the easiest. To make this even harder, we didn’t read the directions correctly and weren’t aware that the

robot had to start inside the box. We started a lot of programs, but from the outside. Once we were aware of our problem, we had to start the programs again. For most of our programs, our robot only had to move forward to accomplish popping a balloon, launching a missile, or sweeping missiles. For the balloon and missile, we just had to move the arm forward to pop the balloon, and go backwards to trigger the missile launcher. Our block program was a little more complicated, as we started it diagonally. It went forward until it got the block, went in reverse, turned so it can be vertical, drove backwards into the box, and launched the block outside. Testing: Since our robot was very similar to our Battlebots robot, we stuck with a few things such as our NXT base, big wheels, and a Taskbot wheel in the front of or design. A modification we made was moving our arm to the left side, and attaching it to our NXT. Again, the program changes were the greatest and most difficult in our process. The missiles were not as hard to change as most worked for our launcher. Most of our missiles were able to be launched, but there was the occasional heavy or light missile. Just a little removing or adding of playdough was enough to score points. Balloon Pop Data Table

Trial Time Adjustments/ Reason

1 2.89s First Run

2 2.81s Motor Power to 100%, The reason we did this was to complete the program as quickly as possible

Missile Sweep


1 3.65s First Run

2 4.17s Changed rotations from 3 to 3.5. Didn’t clear the missile out of the target zone

3 3.12s Motor Power to 100%. The robot was too slow to

accomplish the task

Missile Launch


1 4.75s First Run

2 1.60s Changed the Route/ It took too long to complete the task

3 1.04s Changed the Motor Power to 100%/ Wanted to see if we can get better results

Block Drop


1 7.37s First Run/ Still not in working condition

FlapJacks74_RoboRallyDesignDoc

Robotics in Space Exploration

Orbiters observes a planet well in polar orbit. The planet might be observed in a few week

or months. It can also repeat observations of the same area recording any new changes on the

planet. The first orbiter that went into space reaching mars on November 14, 1971. The orbiter also

called Mariner 9 was able to photograph the surface of mars.

Source 1 (https://airandspace.si.edu/exhibitions/exploring-the-

planets/online/tools/orbiters.cfm)(https://www.jpl.nasa.gov/jplhistory/mission/orbiter-t.php)

Dextre is a two armed robot that does repairs otherwise requiring spacewalks. Dextre was

launched into space on march 11, 2008. Dextre does maintenance work such as replacing batteries

and replacing the cameras outside the international space station. Dextre reduces the amount of

risky spacewalks to do chores giving astronauts time for science. Dextre is programed by Canadian

robotics planner.

Source 2 (http://www.asc-csa.gc.ca/eng/iss/dextre/)

https://airandspace.si.edu/exhibitions/exploring-the-planets/online/tools/orbiters.cfm

https://airandspace.si.edu/exhibitions/exploring-the-planets/online/tools/orbiters.cfm

https://www.jpl.nasa.gov/jplhistory/mission/orbiter-t.php

http://www.asc-csa.gc.ca/eng/iss/dextre/

The mars pathfinder was launched on December 4, 1996. The mars pathfinder weighed 10.6

kilograms (23 pounds). The max speed of the pathfinder is 16,440 mph. Mars pathfinder was

originally designed to deliver a instrumented lander and a free ranging rover to the surface of mars.

The pathfinder accomplished more then its goal it returned with an unpredicted amount of data

and out lived the design life

Source 3 http://mars.nasa.gov/programmissions/missions/past/pathfinder/)

http://mars.nasa.gov/programmissions/missions/past/pathfinder/

Specifications:

Robot Dimensions:

Length: 7.5”

Width: 8.5”

Height: 9.8”

Pictures of Robot:

Main Components:

2 motors (B and C) to drive

1 motor (A) to dump out the block

1 small grey wheel on back

Programming:

Balloon pop

The first block drives straight for 3.4 rotations to pop the balloon the speed is negative because

our robot does the opposite of what is spouse to do. Then drives straight backwards for 3.5 rotations

Block Transfer

The first block drives straight for 1.9 rotations at –30 for the speed. The second block picks up

the block at –10 for the speed and 40 degrees. The next block turns around for 1.3 rotations at 40. The

fourth block will drive straight for 2.6 then the 5th and 6th blocks will dump the block off the edge. Then

the 7th and 8th will turn right and go straight back to the base.

Missile launch

The first block goes straight for 0.7 rotations and the second blocks makes the arm rotate 360 so

it can hit the missile launcher and shoot the missile.

Missile sweep

The first block goes straight for 5 rotations and then the second block will go backwards for 5

rotations.

Testing:

I practiced and tested and the results are in these data tables:

Balloon Pop Mission

Trial Result Adjustments

1 Fail Didn’t make it to the balloon

2 successful Increased rotations to 1.9

3 successful Increase speed

Block mission


1 Fail Missed the bock

2 Fail Switched to to degrees

3 successful Hired the degrees

missile launch


1 Fail Missed the target

2 successful Lowered the rotations

3 successful Changed to –360

Missile sweep


1 Fail Missed missile

2 successful Fixed the thing at the bottom of the robot

3 successful Fixed the rotations

Research: For many years, space exploration has been led by robots. Ever since Lunokhod

1, the first Rover to survive its missions, landed on the moon in 1970, robots have been

key to figuring out space.1 There have been many different rovers over many years, and

they all have helped us understand our solar system well. Some stand out from the rest,

but they were all still important. Our robot is similar to these rovers because it moves

around in an area to perform certain tasks.

The Apollo Lunar Roving Vehicle was a battery-powered rover used on the

moon. It was used during 1971 and 1972.2 The rover was used to carry astronauts,

carry equipment, and carry samples.3 This rover is similar to our robot in some ways, as

it is used to carry the mission’s important parts to different places, and our robot is used

to pick up a block. While these things are on different scales, the basics are the same.

Spirit was a rover that was active from 2004 to 2010.4 It was used on Mars to

perform experiments, research the planet, and just discover more about Mars.5

However, on May 1, 2009, Spirit became stuck in some soil. NASA spent eight months

trying to figure out how to get Spirit out of the soil, but ultimately failed.6 This shows how

hard it is to get things right. With our robot, we had many occasions where we couldn’t

fix the situation and had to give up. Fortunately for us though, we had more chances.

Spirit only had one chance, and it didn’t go well. Spirit did continue to do experiments

even though it was stuck until March 22, 2010.7

Specifications: Width: 8 inches

Height: 5.75 inches

Length: 8.375 inches

1 "Rover (space exploration) - Wikipedia." https://en.wikipedia.org/wiki/Rover_(space_exploration).

Accessed 3 Mar. 2017. 2 "Lunar Roving Vehicle - Wikipedia." https://en.wikipedia.org/wiki/Lunar_Roving_Vehicle . Accessed 6 Mar. 2017. 3 "Lunar Roving Vehicle - Wikipedia." https://en.wikipedia.org/wiki/Lunar_Roving_Vehicle. Accessed 6

Mar. 2017. 4 "Spirit (rover) - Wikipedia." https://en.wikipedia.org/wiki/Spirit_(rover). Accessed 6 Mar. 2017. 5 "Spirit (rover) - Wikipedia." https://en.wikipedia.org/wiki/Spirit_(rover). Accessed 6 Mar. 2017. 6 "Spirit (rover) - Wikipedia." https://en.wikipedia.org/wiki/Spirit_(rover). Accessed 6 Mar. 2017. 7 "Spirit (rover) - Wikipedia." https://en.wikipedia.org/wiki/Spirit_(rover). Accessed 6 Mar. 2017.

https://en.wikipedia.org/wiki/Rover_(space_exploration)

https://en.wikipedia.org/wiki/Lunar_Roving_Vehicle

https://en.wikipedia.org/wiki/Lunar_Roving_Vehicle

https://en.wikipedia.org/wiki/Spirit_(rover)




Rocket Launcher

Missile Sweeper

Balloon Popper

Full robot without any attachments

Primary Components: ● 2 motors to accelerate (B and C)

● 2 large wheels

● 2 missile shooters

● 2 missiles

● 1 block skewer

● 1 missile sweeper

● 1 balloon popper

● 1 tack

● 1 motor for various tasks(A)

Programming: For Robo Rally, you have four missions the robot needs to autonomously complete in three

minutes. We complete these missions by programming the robot. There are four missions in

Robo Rally, so we will be running four different programs. Our four programs include balloon

pop, transporting the block off the edge of the arena, shooting missiles, and sweeping enemy

missiles.

Our Programs:

Balloon POP

Block Grab

Rocket Launch

Sweeper

When you are changing your programs, you can look at the bottom of your screen and

notice an area where you can change settings for your motors. The settings you can change are

speed power, steering, what direction you want it go, and when you want it to start or stop. To

change the direction, there is a slider. Above the slider, there will be an arrow pointing forward if

the slider is in the middle. If you move the slider to the right, the arrow will turn right. If you move

the slider to the left, the arrow will turn left. You can change the duration of the motors by four

options: seconds, degrees, rotations, or unlimited. The option “seconds” is how many seconds

your motors will run. The “Degrees” option will make the wheels turn the amount of degrees

you entered. The option “rotations” will make your wheels turn by how many rotations you enter.

Lastly, the “unlimited” option sets it to never stop. You can change the speed of the motor by

moving a slider from a number 0-100. Another option is to enter a number in the box on the right

of the slider. You can change the motor to a different port “A”, “B”, or “C”. To choose a motor,

you check one of the boxes. There are three directions the motor can go: forward, reverse, and

stop.

Below you can find the control area

Testing:

The first thing we tried to do was build the wall to sweep the missiles and write that

program. It didn’t take long, so we moved on to create the block grab program and

piece. The piece was successfully made, but the program was hard to figure out. So we

decided to try the balloon popping event instead, with the intent of coming back to the

block grab later on. We easily finished the balloon pop and decided to try the missile

launch. Our original design involved the missile’s lever being pulled back by an axle in

front of it. We finished that and the program and decided to revisit the block grab. We

decided to try turning the block towards our robot so we could just make the robot go in

a straight line instead of our original idea. Our original idea was that the robot would turn

towards the block in the program, but that never worked perfectly. The new way ended

up working, and we were almost ready. We decided to rebuild the wall, however,

because it turned out to not be strong enough. With that done, we decided to fix the

missile launcher so that the axle went through a piece attached to the lever. This

worked almost every single time, so we added another launcher to get extra points.

That ended up being our finalized design for all of our robot’s events.

Chart:

Categories Original Design

Revision 1 Revision 2 Revision 3 Revision 4

Sweeper Attachment

Small wall attached to front

Unchanged Wall pushed outwards

Unchanged Added hooks and extra weight

Sweeper Program

Moving forward and backward

Unchanged Unchanged Unchanged Unchanged

Block Grab

Attachment

Axle that attached to the motor and went through the hole in the block

Unchanged Unchanged Unchanged *Unchanged but with possibility of a 3D attachment instead

Block Grab Program

Moving to the block by going in an L shaped fashion forwards and backwards

Unchanged The program went from 75 power to 100 power

The program changed back

The program changed; It went straight forward into a turned block, dropped the block off, and went back to the base

Balloon Pop Attachment

Tac attached to a long arm

Unchanged Made arm longer

Unchanged Unchanged

Balloon Pop

Program

Moved forwards, popped balloon, then went backwards

Unchanged Tried to go to the balloon in an L shaped fashion

Changed back to original design

Unchanged

Missile Launch

Attachment

One missile launcher that had an axle in front of it that pushed the lever back

Unchanged Put the axle through the lever by using an attachment to the lever

Unchanged Added second launcher and rocket

Missile

Launch Program

Went forward, launched missile, went backwards

Unchanged Unchanged Unchanged Accommodated second launcher

*At the time of this chart’s creation, the block grabbing attachment was made by us. However, it may be replaced by

a 3D printed attachment in the future.

Team Nike74_RoboRally Design Doc

Robots in Space Exploration

The Sojourner Robot was built to explore Mars. It has 6 wheels it was

designed to be like a rocker bogie . The size of it is 13cm. The Sojourner

is similar to a remote controlled car. It is also powered by solar panels .

This is the Sojounrer robot

Site http://www.learnaboutrobots.com/space.htm

The curiosity rover is a rover that is curranty on mars now. It is controlled on

earth and its moving on Mars. It collects information about Mars including

videos. It arrived on Mars on 10:32 pm on Aug 5, 2012. It travels 90 meters

per hour. It cost NASA 2.5 billion dollars. The rover get its electricity from a

nuclear reactor.

https://www.nasa.gov/mission_pages/msl/overview/index.html

This is where I got the information on the curiosity rover.


https://www.nasa.gov/mission_pages/msl/overview/index.html

Specifications: Robot Dimensions:

Length: 6”

Width: 8 ½"

Height: 12"

Pictures of Robot:

Main Components:

2 motors (D and B) to drive

1 motor (A) to attack

2 big tires with regular rubber, 1 small grey wheel on the front

Programming:

This is the ballon pop mission

This is block pickup/dump mission

This is my missile shoot mission

Testing: We spent so much time writing our missions. You will find more information on the chart below

Trial Result Adjustments 1 Fail Fixed the rotations to go farther

2 fail Needed to have a lest amount of Rotations

3 success Popped the balloon

4 success Put more power to have more aggression

5 success Raised the arm to get the center of the balloon

RoboRally Design Document

Research:

Robots made space exploration possible due to them being efficient and doing tasks that no human can do. For example, they explored our solar system’s planets and provided us with valuable information outside our solar system. Some examples of space exploration robots are Voyager 1 and 2, Curiosity Rover, and Mariner 10.

According to http://voyager.jpl.nasa.gov/mission/m, Voyager 1 and 2 are undergoing a more-than-39-year mission launched in 1977. This mission is called the Voyager Interstellar Mission (VIM), and they will explore the outermost edge of the solar system and even going beyond. Their original mission was the exploration of Jupiter and Saturn. However, after making a series of discoveries on both planets, the mission was extended. Voyager 2 went on to explore Uranus and Neptune, and in August 2012, Voyager 1 made the history entry into interstellar space. Both spacecrafts are still sending scientific information about their surroundings through the Deep Space Network (DSN). Voyager 1 and 2 are similar to our robot because it was built to do missions, just like our robot but it was made to do simpler task. These 2 spacecrafts are examples of how they can do missions that no other human can do.

Another space exploration robot is Mariner 10. According to http://solarsystem.nasa.gov/missions/mariner10/indepth, Mariner 10 was the first spacecraft sent to planet Mercury and the first to reach one planet by using the gravity of another planet to alter its speed and trajectory. Its primary goal was to study the atmosphere, surface, and physical characteristics of Mercury. After leaving Earth, the first destination was Venus. Mariner 10 took over 4,000 photos and collected important scientific data before using its gravity to help it get to Mercury. The first time the satellite reached the most inner planet, it found many important discoveries. It discovered that the surface was similar to the moon’s, it had a weak magnetic field, and the temperature would vary dramatically. Having looped around the Sun, Mariner 10 flew by Mercury once more to gather more data. The spacecraft used the pressure of sunlight on its solar panels and high-gain antenna for attitude control. Finally, it reached Mercury a third and final time before scientist lost contacted with it on March 24, 1975. The Mariner 10 and our robot is similar that they both have a goal to complete. Our robots has to get points from each task it does, and the Mariner 10 had to gather data of Mercury.

Finally, the last example of a space exploration robot is the Curiosity Rover. In the source https://en.wikipedia.org/wiki/Curiosity_(rover), it states that the rover is a

https://en.wikipedia.org/wiki/Curiosity_(rover)

http://solarsystem.nasa.gov/missions/mariner10/indepth

http://voyager.jpl.nasa.gov/mission/m

car-sized robot exploring the Gale Crater on Mars as part of NASA’s Mars Science Laboratory (MSL). The main goal was to determine whether life ever arose on Mars, characterize the climate and geology, and prepare for human exploration. To do any of the task it was assigned it had many instruments to help itself. It had a heat rejection system to communications. It was also very well engineered that it can travel through Mar’s very rough terrain. Our robot and the Curiosity Rover was similar in a way that it can be programmed by humans. Scientist back on Earth can't tell what the rover does, like we can tell our robot to do a certain task.

These were some example of modern space exploration robots that made space exploration possible. They have to be carefully programmed to do certain task to help us explore space. As a result, space exploration had advance over the years and soon we would go beyond our solar system as well.

Specifications: Width: 16.51 cm Length: 24.765 cm Height: 15.875 cm

Pictures of Robot:

This is our robot This is our missile launcher

This is our Block Drop This is our Balloon Pop

This is our missile sweeper

Components:

2 large motors for movement 2 EV3 wheels EV3 command brick 1 NXT large motor 2 missile launchers 1 block drop 1 balloon drop 1 missile sweeper

Programming:

There are 5 programs that can be used to earn points throughout a 3 minute round. However, as of right now my group only has four programs. These programs are moving out of the homebase and firing missiles to a target, throwing a block off the table by using an arm we constructed, popping a balloon, and sweeping off our opponent's missiles from their target. Each program has to be precisely made and measured so it completes the task in the least amount of time possible since there is only three minutes per round.

Missile Launcher:

For this task we used the 3rd large motor to activate the launching of the missiles. The robot first moves out of the home base and turns, facing the target. Then, the third motor accelerates for .7 seconds. This gives it enough time activate the launch.

Block Drop:

For this task we used the 3rd large motor. Our robot uses an arm we made. The robot leaves the homebase and inserts the arm into the hole of the block. Then, it turns around and throws the block off the table, and returns to the homebase. Balloon Pop:

For this task we used the 3rd large motor. We angle our robot so it is parallel the balloon. It uses a long arm with a thumbtack at the end that is facing downwards. The robot then goes in a straight line for 3 seconds, therefore making it close enough for the third motor to accelerate and pop the balloon. Then it goes reverse so it goes back into the base. Missile Push:

For this task we used the 3rd large motor. Just like the previous task, we have to angle the robot so it pushes the missile(s) off the target in 1 go. We built a ram take is long in length so it makes this possible. The robot goes in a straight line for 5 seconds, which is just enough time to push the missile entirely off the target. Then it goes back to the homebase.

Testing: Missile Push


1 11.25 seconds Made the ram a on block shorter

2 8.61 seconds We added an extended ram

3 6.73 Seconds We put the motors to 100 and made the ram bigger

4 6.24 seconds No modifications


Missile


1 2.41 seconds Original Design



4 2.18 No modifications

5 2.04 No modifications

Block Drop


1 Didn’t Complete Bent arm down so it faces the ground more

2 Didn’t Complete Switched the location from where the robot starts

3 10.35 seconds Moved block closer to the edge



Balloon Pop


1 6.92 seconds Original





Robotics Design Document:

The robot that I research was called the Mars Curiosity Rover they use it for to search for life on mars

so humans could live. Another thing is they use a power generator so the rover could go farther and

have longer distance.https://www.nasa.gov/audience/foreducators/robotics/home/index.html.

Another robot we research was called RSGS the robot mission was to orbit and fix mechanical

anomalies, refueling satellites that have run out of gas, upgrading satellites with new and additional

payloads. That's what the robot has to do . https://www.fool.com/investing/2017/03/06/the-race-to-

put-robots-in-space-has-begun.aspx. The last robot that we research was called robonaut it was created

by NASA’S JSC AND DARPA helped on creating this robot. Another detail about this robot is to go where

humans can't go. And so it can find life in other planets that humans can't go.



Length: 9”

Width: 5”5

Height: 6”

Pictures of Robot:

Main Components:

2 motors connected to the wheels so it could move.

1 motor to get the block and throw it out.

There Is 2 connected to the front and a metal ball

In Total there are 3 wheels

https://www.nasa.gov/audience/foreducators/robotics/home/index.html

https://www.fool.com/investing/2017/03/06/the-race-to-put-robots-in-space-has-begun.aspx

https://www.fool.com/investing/2017/03/06/the-race-to-put-robots-in-space-has-begun.aspx


Programming:

We used Lego Mindstorm To program our robot to pop a balloon, pick up a

block , shoot a missile into a target.The way it works was to open the program

called lego mindstorm and start by adding a steering block to drive and a

single motor block is to move the arm. Then keep adding blocks to program

each move the robot makes.

missile push

balloon pop

block drop

missile launch

Testing: One thing we did was change the arm to make the arm get the block and throw it out because it

wouldn't get the block and won't throw it out . Another thing we did was rebuild the robot and change

the brain because we couldn't connect to the robot.The second last thing is we had to change the tires

because it wouldn't turn to the sides and wasn't the height of the block when we had the other arm.The

last thing we change was the arm we had it like a straight lego piece then we made a shovel so it could

go straight and the block could fall out then turn and throw the block out and get 3 points.After that we

made our arm lighter by opening holes in the sides so it would launch it faster.

Trial Time Adjustments 1 4.5 s One thing we did was modify the arm of the robot so it could be shaped as shovel

and so it would hit the white tower and so the block would fall and the arm could throw it out the cube.

2 5.3 s We also changed the programing to do less rotations and so it could throw the cube

3 3.50 s The third adjustment was instead of a lego arm we made a 3d arm in sketchup. 4 4.7 s We then changed the wheels because we had a straight arm so it could

5 2.4 s We also put a green lego block in the block so when we back up the arm will throw the block

Robo Ralley Design Document:

Research: Robots are not only used in Earth but they can also be used in space. For example, I researched three

different kinds of robots in space called Sputnik1, Robonaut, and the Curiosity rover. The Sputnik1 was

launched on October 4, 1957 by USSR and was the first robot in space this robot, this robot helped

provide information on the density of the atmosphere by calculating its lifetime in orbit. The Robonaut

has a human scale arm with 5 fingers in each hand, wearing a space suit, this robot could help with

anything from working on the International Space Station to exploring other worlds. The Curiosity rover

is a six wheeler robot bigger than a small car, this robot started exploring Mars since 2010.

Sputnik1: www.universetoday.com

Robonaut: www.learnaboutrobots.com

Curiosity Rover: www.nasa.gov


Length: 11”

Width: 6”

Height: 7.5”

Pictures of Robot:

Main Components:

1 motor(A)to grab the block and pop the balloon


2 medium tires with rough tread

1 small grey wheel on back

Programming: There are 2 important tool blocks mainly used to program a robot in robo ralley which are the steering tool block and the single motor tool block. The steering tool block is used to go move left, right, forward, or reverse. In this tool block you can adjust the power and the rotations you want your robot to go. The single motor tool block is used to grab the block and pop the balloon. This tool block can also be adjusted to have a lot of power and rotations. STEERING BLOCK SINGLE MOTOR BLOCK

Testing: Robots always need to be adjusted if needed. My robots thumbtack was not sharp enough to pop the

balloon, so I sharpened it and made it possible for it to pop the balloon. Another adjustment I did was

make my power and speed bigger to grab the block better and stronger. My robots missile launcher was

not able to make it to the target because it was facing down, so I made it to an angle where it makes it. I

also had to make my missile pushing tool a little longer so I wouldn’t miss the missile when I tried to

push it out of the target. I also made my arm a little lower because it would not grab the block when I

tried. These are my adjustments I had to do when my robot was not doing something right.

Trial Time Adjustments 1 9.14s I increased my power and rotations to grab the blocker better and stronger

2 2.67s I adjusted the angle of my missile launcher to make into the target

3 6.09s I made my missile pushing tool longer so I wouldn’t miss the missile when I tried pushing it out of the target

4 12.4 s

5 10.2 s Increased the power on the motors to 90%

RoboRally Design Document:

Research: This summary will be about Robots in space. We have to pick 3 Robots that are sent to space to explore

and do stuff in space. The First robot is called Robonaut, Robonaut’s creators was designed to have

dexterity. It is sent to space with range motion and a task equivalent to an astronaut’s task. The Robot’s

sensor include thermal, position tactile, force and torque with over 150 sensor on each arm. This robots

name is Sojourner it is a 6 wheeled vehicle rocker bogie design that allows the traverse of obstacles a

wheel diameter of 13 cm in size. The front and rear wheels of sojourner are independently steerable and

they allow sojourner to turn in place. Sojourner has a top speed of 0.4 meters per minute, the wheels

are powered by a 0.22 square meter solar panel comprised of 13 strings of 18, 5.5 mil GaAs. This robot is

called Flight Telerobotics Servicer (FTS). It was built in 1987 to help astronauts assemble the space

station. The FTS project was that it generated a lot of lessons. This relates to our project because we are

building a robot that carries out multiple tasks.

Source:

WWW.learnaboutrbots.com/space.htm

(Robonaut)


(Sojourner)


(Flight Telerobotics Servicer)

Specifications: Robot Dimensions

Length: 11”

Width: 6”

Height: 7”

Weight: 851.5 g

Pictures of Robot:

http://www.learnaboutrbots.com/space.htm



Main Components:


1 motor (A) for claw

1 missile launcher

2 Normal Wheels

1 steel ball (for steering)

2 3D printed Claw

1 3D printed large claw

Programming: The program we have created is made out of two main control blocks along with other many other

blocks. The first block that you can see below is in control of motor B and C. It uses those to steer

and drive forward and backward. The block you see beside it is in control of motor A. It uses this to

move our third motor, the arm which grabs the block and releases it off the table. Our programs

uses many blocks to control the movement we want the robot to make in order to complete to

tasks.

Steering block Arm control block

Block grab

Testing:

To begin with, there were couple of mistake and adjustment for example we

couldn’t use our lego claw and hook to hold our block so we change it to 3d

printed. One of the mistake is that when we try to grab a cube, the bottom of

the claw was blocking the wood so we couldn’t make the cube go off the table

so we decided make it more skiner. Another adjustment was that we try to

make the rocket more accurate by using different pieces when it shoot.

Another change was that the wall was too big and it was cricket so we made

more small and it fit perfect. One mistake was that The green claw hole on the

top couldnt fit with the other pieces so we go to remake the green claw.One

adjustment was when to find a place for our string that help us shoot the

rocket.

Trial Time Adjustments 1

2 3

4

5

Team Teemo74_RoboRally

Research:

Robots in space are used for looking for new things out of space. NASA sent a robot named," Curiosity,"

to Mars and it is still today out on Mars. The robot Curiosity comes with a equipment of a six-wheel

rocker-boogie suspension, multiple cameras attached to Curiosity, and it's power supply doesn't require

on solar power to be charged. Well NASA says that Curiosity will at least stay up there for 2 years

exploring Mars on it's own. Curiosity has a radioisotope power generator so Curiosity can last longer

and have more energy to last up on Mars. Lastly Curiosity has a expansive suite of science tools named,"

Sample," and Sample analyzes Mars and collects data when Curiosity is moving to new places and

collecting more data.

Source #1 https://www.nasa.gov/audience/foreducators/robotics/home/index.html

<-------- Curiosity.

The most famous robots to be most likely be sent to space are Orbiters, Rovers, and Landers. A robot

named," Mariner 4," was the first orbiter robot to be sent to Mars and took some pictures of Mars up-

close along with some other plants. Next there are Landers called Vikings. Viking 1 was the first robot

who was sent to Mars and landed on Mars on July 20, 1976. Viking 2 also landed on September 3, 1976.

Both Vikings were shot out of a orbiter and the Viking's mission was to scan the area to collect data and

scan for life form. Unfortunately no life source was found but data was collected still. The question is

that if there is still life form up there.

Source #2 http://www.universetoday.com/43750/robots-in-space/

https://www.nasa.gov/audience/foreducators/robotics/home/index.html

http://www.universetoday.com/43750/robots-in-space/

<---------- Orbiter.

There are robots in space which are orbiters and landers and they were called Viking 1 and Viking 2.

When in space they orbited around to gain data and collect information. Then months later they were

sent on Mars and landed but Viking 1 landed near the Chyrse Planitia. Viking 2 however landed in the

Utopia Planitia. While they were both on the surface they collected data about Mars and the surface of

it. Also Viking 2 was sent 7 weeks later after Viking 1 was sent.

Source #3 https://www.britannica.com/topic/Viking-space-probe

Orbiter! ^^.^^.^^(Up)

https://www.britannica.com/topic/Viking-space-probe

Specifications:

Robot Dimensions:

Length: 8.8”

Width: 8.10”

Height: 5.11”

Components:

:Motor A and D used to move robot.

:Motor B used for arm to grab block, dump block, shoot missile, etc.

:Sweeper used for sweeping missiles.

:2 small wheels used in front of robot to help Motor A and D move more.

:Has a missile attachment to shoot missile when needed to.

Pictures of Robot:

Programming:

For RoboRally, we use motors A and D to move our robot. We have a arm to do things for the event like

grab the block and dump it or pop the balloon. The motor we used for the arm is motor B. For different

things during the event, we have different programming. Our robot's speed must also be negative to go

forward because the motors on the robot are backwards. Different programs help us finish certain parts

during Roborally such as Motor A, -100 and Motor D, -50. This is a program to turn. But we have to add

more codes in order to finish. If one code is messed up or is not doing what you want it to do, it messes

up the whole program and the command line. Also it might be stressful to keep doing the same thing

until you get it right.

Balloon Pop Program/ Still in beta.

The Balloon Pop Mission is going to do this. First it is going to go forwards for 3.2 seconds. Then after 3.2

seconds, Motor B which is the balloon popper arm, is going to pop the balloon. Then after the balloon

pops the robot will reverse and come back for 3.5 seconds.

Block Dump Program/Still In beta.

Block Dump Program. The block dump program works like this. First it will go

forward for 1.7 seconds. After that the block arm which grabs the block will go inside the hole of the

block. The arm will lift up and then the next program runs. It turns a little and then it is going to turn.

After that the robot will hit the block and throw out the block. Then the robot will turn and return to the

base without any problems. Still in beta so might not work.

Missile Program/ Still In Beta.

The Missile Mission. The missile mission works like this! First it is going to go max speed forward at 1.9

seconds. After that the block arm/ balloon arm will lift up and hit a trigger which is going to shoot the

missile to the circle. After all this happens the robot will return back to the base in 2.4 seconds.

Sweeping Program/ In beta.

The sweeping program works like this. First it will go straight to the enemy's missiles. It will first sweep

them out and then it will reverse a little. After that it will then go back to sweep once more just incase if

the robot misses a missile. Then the robot will come back to base.

Testing:

Balloon Pop Mission

Trial Time Adjustments

1 Fail Didn't Pop balloon and didn't

come back.

2 6 Increased speed by 1 and pop

balloon.

3 Fail Program was lost and had to

start over.

4 7 Start little by little again. Took

too long to pop balloon.

5 5.5 Increased speed to 100 and

popping speed was

faster/Increased.

Block Dump Mission


1 Fail Block Arm didn't go in the

block.

2 Fail Block Arm went in but robot

passes the line.

3 10 Worked but too long and too

slow.

4 Fail Went inside of the home-base

line.

5 8.5 Increased speed by 5, fixed

rotations for dumping and going

back to base.

Missile Launch Mission


1 Fail Didn't shoot and passed the line.

2 7 Worked but missile went too

shallow.

3 6.7 Worked, increase speed by 5.

4 6 Added a trigger to improve

shooting the missile to the

circle.

5 5.5 Increased speed by 50 and

missile shoots in the middle of

the circle

Missile Mission Sweep


1 Fail Got stock on the wall and floor.

2 15 Took too long and went too

slow.

3 10 Added more speed to both

wheels by 50.

4 Fail Program failed and had to restart

the mission.

5 7 Better, increased speed, returns

to base quickly, and sweeps

missile.

Robo Rally Design Document

Research: Robots have transformed the way that we explore space, NASA has created many robots

that help humans in space. The Robonaut is one of these robots, this robot was built to help

humans work and explore in space or to go to places where the risk is too great for humans.

NASA has also created the Mars Rover, the Mars Rover was built and sent to mars to find out

the history of water on mars. Another robot that has been created is the ATHLETE rover, this

rover was built by JPL and it was designed to be able to go through extremely rough or steep

terrain. Over all these robots are amazing and they are going to help many astronauts.

These robots were designed and developed by many people and they can do many

different things. The Robonaut was designed and developed by NASA, General Motors, and

Oceaneering Space Systems engineers. The robonaut is so advanced that it can handle EVA

tools and interfaces. The Mars Rover was built by NASA the robot is part of the Mars

Exploration Program, this is a long-term effort of robotic exploration on Mars. The Mars rover

was launched to Mars on June 10 and July 7, 2003,then they landed on Mars January 3 and

January 24, 2004. Another robot that was developed by NASA is the ATHLETE, the ATHLETE

was built to travel over extremely rough or steep terrain. ATHLETE stands for All-Terrain Hex-

Legged Extra-Terrestrial Explorer. As you can see, these robots are amazing and they will do

amazing things in the future.

All of these robots have many things in common with the NXT robot that we are working

on in our class. One example of this is how the robonaut was created, programed, and designed

to do the many different tasks that it is given. In our robot we had to design, create, and program

our robot to do the different tasks that we tell it to do. Another example of what they have in

common is the pieces that the robots use. The ATHLETE has many different motors that it uses

to control its actions and both the ATHLETE and the NXT robot have no legs so they use wheels

to get around. The Mars rover has many different attachments so that it can do the many different

tasks that it is given, this directly connects to us because we have different attachments so that

our robot can do the many different things that it is given. As you can see, these different robots

have many things in common with the NXT robot that we use.

All in all, these robots connect directly to us and they can do many different things

things. The Robonaut can use EVA tools and interfaces and can go places where humans can not

go. The ATHLETE has motors to control its actions and it has wheels to get around. And the

Mars rover was built to do the mission that it was given which was to find the history of water on

mars. In conclusion, these space robots can go places we can not go and do many things that we

can do.

Source 1:https://robonaut.jsc.nasa.gov/R2/


Source 2:https://robonaut.jsc.nasa.gov/R1/index.asp

Source 3:http://mars.nasa.gov/mer/overview/

Source 4:https://www.nasa.gov/multimedia/image gallery/image_feature_748.html

Specifications:

Length: 26.8 Centimeters

Width : 24.9 Centimeters

Height: 12.6 Centimeters

Pictures:

Both sides of NXT robot without any attachments

https://robonaut.jsc.nasa.gov/R1/index.asp

http://mars.nasa.gov/mer/overview/

https://www.nasa.gov/multimedia/imagegallery/image_feature_748.html

Balloon popper arm Missile launch and missiles

Block drop arm Missile sweep wall

Main Components: 2 motors for acceleration (ports B and C)

2 large wheels

1 block skewer

1 3D printed axle

1 missile shooter

1 balloon popper

1 tack

1 missile switch

2 missiles

1 motor for various tasks (port A)

( Since there isn't enough cable space for 4 motors we have to put on the block skewer, balloon

popper, and missile switch on the third motor at different times when we are performing different

tasks )

Programing:

My partner and I enrolled our robot in the competition for Robo Rally which consists of

two robots performing five tasks within a 3 minute time period to try and score points so you are

able to move onto the next round. My partner and I have created a total of four tasks out of the

five tasks that consists of popping a balloon,firing two missiles,picking up and throwing a 3D

printed block and throwing it off the edge of the arena,and sweeping our opponent's missiles off

the target taking away the points they just earned.Just to make sure our programing and test are

successful we will be very cautious in our testing to make sure our robot and us are prepared for

this competition.

Pictures of our four programs

This is our balloon pop program

This is our missile launch program

This is our missile sweep program

This is our block throw program

Control area -does not go to any of our programs

Testing: Balloon Pop


1. 3.6 We want our robot to be very fast and quick so if we make a mistake or if ever go into sudden death our robot will be fast enough to win.

2. 3.8 Our arm was very weak and would not want to pop a balloon so we increased the power and changed the angle of our robot so that it is lined up with the balloon and is easier to pop.

3. 3.3 seconds No changes were made ,we have our robots modification

where we wanted them for balloon

Missile launch


1. 2.4 The motor had little power which was increased so that our missiles would land it the middle of the target every time.

2. 2.2 The robot's arm to activate the trigger was very weak so my

partner made a change to the arm making it basic but very strong.

3. 2.1 No changes were made ,we have our robots modification

where we wanted them

Missile sweep


1. 6.6 Our program had to be very fast for missiles since most teams will do the program at the very end where most points matter so our robot's speed was increased

2. 6.7 Our wall was too small and would not sweep the missiles so

we made the wall more sturdy and longer.

3. 6.3 No changes were made ,we have our robots modification where we wanted them for missile sweep.

Block Drop


1. 13.1 Our arm was moving up too fast causing the block to go flying off so when our axle reaches the block it moves the block upwards fast enough for the block to stay on.

2. 13.4 Our robot was going to fast causing the block to fall over on

the ground so we reduced our speed causing it to slow down right before the arm reaches the block.

3. 12.8 No changes were made ,we have our robots modification

where we wanted them for block drop.

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