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Cielguard Cielguard Ben Holt, Ryan Andersen, Ben Holt, Ryan Andersen, Jed Casper Jed Casper Founding Member: HockeyBot Founding Member: HockeyBot Federation Federation Ciel: French for sky Ciel: French for sky Guard: to be careful or to Guard: to be careful or to protect protect
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Cielguard Ben Holt, Ryan Andersen, Jed Casper Founding Member: HockeyBot Federation Ciel: French for sky Guard: to be careful or to protect.

Dec 20, 2015

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Page 1: Cielguard Ben Holt, Ryan Andersen, Jed Casper Founding Member: HockeyBot Federation Ciel: French for sky Guard: to be careful or to protect.

CielguardCielguard

Ben Holt, Ryan Andersen, Jed Ben Holt, Ryan Andersen, Jed CasperCasper

Founding Member: HockeyBot Founding Member: HockeyBot FederationFederation

Ciel: French for skyCiel: French for skyGuard: to be careful or to protectGuard: to be careful or to protect

Page 2: Cielguard Ben Holt, Ryan Andersen, Jed Casper Founding Member: HockeyBot Federation Ciel: French for sky Guard: to be careful or to protect.

Presentation OrganizationPresentation Organization

• OverviewOverview

• Project GoalsProject Goals

• Project LayoutProject Layout

• ProblemsProblems

• ResultsResults

• DemoDemo

• ConclusionConclusion

• Q & AQ & A

Page 3: Cielguard Ben Holt, Ryan Andersen, Jed Casper Founding Member: HockeyBot Federation Ciel: French for sky Guard: to be careful or to protect.

OverviewOverview

• Cs4710Cs4710– Given partsGiven parts

• Systronix JstampSystronix Jstamp

• CMU CameraCMU Camera

• Sonar UnitSonar Unit

• Lego MindstormsLego Mindstorms

• BatteriesBatteries

• Anything else we buyAnything else we buy

– ““Do Something Do Something Interesting”Interesting”

– Studied Autonomous Studied Autonomous Robots from U of Robots from U of MichiganMichigan

• HockeyBot FederationHockeyBot Federation– Question: Has anyone Question: Has anyone

played autonomous played autonomous Street Hockey before?Street Hockey before?

– Old Answer: No.Old Answer: No.– RulesRules

• AutonomousAutonomous

• Only on board sensorsOnly on board sensors

• 5 second shot rule5 second shot rule

• Base Class SharingBase Class Sharing

Page 4: Cielguard Ben Holt, Ryan Andersen, Jed Casper Founding Member: HockeyBot Federation Ciel: French for sky Guard: to be careful or to protect.

Cielguard GoalsCielguard Goals

• Unit TestingUnit Testing

• Real-time Control with JavaReal-time Control with Java

• Corners/Walls AdaptationCorners/Walls Adaptation

• Offense-Defense CapabilitiesOffense-Defense Capabilities

• Ball DetectionBall Detection

• Goal DetectionGoal Detection

• Rely on VisionRely on Vision

Page 5: Cielguard Ben Holt, Ryan Andersen, Jed Casper Founding Member: HockeyBot Federation Ciel: French for sky Guard: to be careful or to protect.

Functional PartitionFunctional Partition

Page 6: Cielguard Ben Holt, Ryan Andersen, Jed Casper Founding Member: HockeyBot Federation Ciel: French for sky Guard: to be careful or to protect.

Software PartitionSoftware Partition

Page 7: Cielguard Ben Holt, Ryan Andersen, Jed Casper Founding Member: HockeyBot Federation Ciel: French for sky Guard: to be careful or to protect.

ProblemsProblems

• CMU Cam dropping a byteCMU Cam dropping a byte• Ball ManipulationBall Manipulation• Sonar Not Integrating with new CodeSonar Not Integrating with new Code• ““Turtle Effect”Turtle Effect”• Turtle SpeedTurtle Speed• Delayed Snapshot ShootingDelayed Snapshot Shooting• LED FascinationsLED Fascinations• PID Controller lost Rotational SensorsPID Controller lost Rotational Sensors• Non-Linear MotorsNon-Linear Motors

Page 8: Cielguard Ben Holt, Ryan Andersen, Jed Casper Founding Member: HockeyBot Federation Ciel: French for sky Guard: to be careful or to protect.

Original Goals vs. Original Goals vs. CompletionCompletion• Original GoalsOriginal Goals

– Unit TestingUnit Testing– Real-time Control with Real-time Control with

JavaJava– Corners/Walls AdaptationCorners/Walls Adaptation– Offense-Defense Offense-Defense

CapabilitiesCapabilities– Ball DetectionBall Detection– Goal DetectionGoal Detection– Rely on VisionRely on Vision

• Completed GoalsCompleted Goals– DoneDone– DoneDone– Walls OK, Corners ToughWalls OK, Corners Tough– No Defense No Defense

Offense OnlyOffense Only– DoneDone– DoneDone– GreatGreat

No SonarNo Sonar• ExtensionsExtensions– SpeedSpeed– Wireless Communication for team playWireless Communication for team play– Possible Commercial Toy Lego DevelopmentPossible Commercial Toy Lego Development

Page 9: Cielguard Ben Holt, Ryan Andersen, Jed Casper Founding Member: HockeyBot Federation Ciel: French for sky Guard: to be careful or to protect.

DemoDemo

• Later we’ll step outside for the demo at our Later we’ll step outside for the demo at our HockeyBot Arena.HockeyBot Arena.

• Hockey has a Zamboni, HockeyBots have a Hockey has a Zamboni, HockeyBots have a Roomba!Roomba!

• Remember to be a Cielguard fan!Remember to be a Cielguard fan!• www.cielguard.comwww.cielguard.com

– Robot MoviesRobot Movies– Java DocumentationJava Documentation– Jar FilesJar Files– Everything we’ve doneEverything we’ve done

Page 10: Cielguard Ben Holt, Ryan Andersen, Jed Casper Founding Member: HockeyBot Federation Ciel: French for sky Guard: to be careful or to protect.

Questions? Questions?