Software Design

We designed our software based on a system where the robot progress through a set of states, each with a unique protocol. Our robot had 14 states, each of which handled a specific portion of the course. All software was written for Arduino, a C++ based language for microcontrollers.

  1. Tape follow to IR gate
  2. Wait for IR signal
  3. Tape follow (before ramp)
  4. Tape follow (up ramp)
  5. Adjust claw (at top of ramp) 6.Enter circle
  6. Tape follow in circle
  7. Retrieve agent
  8. Navigate circle to exit point
  9. Exit circle
  10. Lift Basket
  11. Approach Zipline
  12. Lower Basket
  13. Reverse and finish run

State Diagram

Drawing