RoboCup Junior 2005:

Ako sa to začalo Príprava na cestu Cesta do Osaky Pobyt v Osake Robotické aktivity v Osake Kultúrne aktivity v Osake Cesta domov

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zschlebnice

RoboCup Junior Rescue 2005 - robot  Ka-la-Mar

Authors of robot Ka-la-Mar

Club of young programmers near ZS with MS Chlebnice in composition:

• Karol Pauchly (6. class ZS with MS Dlha nad Oravou)
• Marek Sareny (7. class ZS with MS Chlebnice)

Preparation to competition RoboCup Junior Rescue 2005

Istrobot 2003

• introductory initialization and setting sensors:
• funkction (void):
• void Init(void)
• monitoring black line (2x light sensor)
• parallel tasks:
• task lava_strana()
• task prava_strana()
• detection and walking around debris from the same side (1x pressure sensor)
• task:
• task hladaj()
• function (void):
• void ObidTrosku(void)

Istrobot 2004

• improved detection and walking around debris from two sides (2x pressure sensor)
• task:
• task hladaj()
• function (void) called with integer parameter:
• void ObidTrosku(int n)

RoboCup Junior Rescue 2004

• detection and marking victims (1x pressure sensor)
• task:
• task hladaj()
• function (void):
• void OznacObet(void)

Istrobot 2005

• detection gap and rush out from line and find line (3x light sensor)
• task:
• task hladaj()
• helping tasks:
• task _prerusenie()
• task _toc_sa()
• variables (int):
• int p
• int last_dark
• int t0
• int dt
• int s
• int temp 
• helping IR LED beams (undependency from out light conditions and partially from distance light sensors from surface of road)
• using #define constants for transparency and modification of code (above all conditions) and calibration of light sensors

RoboCup Junior Rescue 2005

• improved detection and marking victim in dependency from gap (1x light sensor)
• task:
• task hladaj()
• function (void) called with integer parameter
• void OznacObet(int gap)

HW implementation of robot Ka-la-Mar

• 3x light sensor
• 2x pressure sensor with bumpers
• 2x motor with transmision and belts with cleaners
• 1x bulb
• 2x IR LED (150mA 1.4V)
• 1x 50Ohm resistor
• 8x 1,2 chargable batteries (6x in RCX brick + 2x additional = 9,6V)
• 1x 9V battery for serial connection of IR LED and resistor

Much of construction was from Lego, belts cleaners and bumpers are from new sponge to wash plates (in order to don't have dirty belts by passing the ramp and in order to so dont't push debris). In place under RCX brick is box with additional batteries,9V battery and simple electric circuit with IR LED. Switch witch is closing IR LED circuit is taked out in rear part of robot.

SW implementation of robot Ka-la-Mar

Programming language:	NQC
Programing IDE enviroment:	Bricx Command Center 3.3 (OS Windows XP)
Algorithm:	taked over and adjusted from competitions Istrobot 2003 to 2005 and RoboCup Junior Rescue 2004
constants: (#define):	CIERNA_MAX_S1, CIERNA_MAX_S2, CIERNA_MAX_S3, ZELENA_MIN_S2, ZELENA_MAX_S2, BIELA_MIN_S1, BIELA_MIN_S2, BIELA_MIN_S3, BIELA_MAX_S1, BIELA_MAX_S2, BIELA_MAX_S3, ALOBAL_MIN_S2, T_REV_TROSKA, T_TURN_TROSKA_1, T_TURN_TROSKA_2, T_TURN_TROSKA_3, T_MOVE_TROSKA_1, T_MOVE_TROSKA_2, T_MOVE_TROSKA_3, T_PRERUSENIE, T_MOVE_OBET, T_TURN_OBET, T_WAIT_START, T_WAIT_OBET, SPEED, SPEED_OBET, SPEED_TROSKA, S1_JE_CIERNA, S2_JE_CIERNA, S3_JE_CIERNA, SX_JE_CIERNA, S2_JE_ZELENA, S2_JE_ALOBAL, JE_NA_OBETI_S2, S1_JE_BIELA, S2_JE_BIELA, S3_JE_BIELA, JE_MIMO_CIARY, JE_TROSKA_LEFT, JE_TROSKA_RIGHT, JE_TROSKA
global variables (int):	p last_dark t0 dt s
local variables (int):	temp
functions (void):	Init() ObidTrosku(n) OznacObet(gap)
tasks (task):	main lava_strana prava_strana hladaj _prerusenie _toc_sa

Photos of robot Ka-la-Mar

Photos will be on page http://www.ja.karolko.szm.sk at early time.

Thanks to

Our great supervision and head of Club of young programmers, PaedDr. Karol Pauchly for time, technical help, valuable advices and informations about the rules change.