Hardware Functional Diagram
Our robot features a start/stop switch and a chase/avoid switch for changing
modes. For object avoidance it uses front and rear bumpers in the event of
collision, and uses sonar to try and prevent collisions altogether. The sonar is
also used to detect distance to a target and to determine if a target is moving or
stationary. The CMU cam is used to locate a target, and it sends a signal when a
target is acquired. The laser responds to this signal being set by turning on, and
turns off when this signal from the CMU cam is brought low, indicating loss of target
acquisition.
Laser Circuit
This circuit was designed to limit the voltage supplied to the laser, and uses the signal from the CMU cam as an input to switch the transistor on and off.
Lego Robot Version 1
Lego Robot Version 2
Our current robot design has two large drive wheels in the front, and a small pivot wheel in the back. The larger drive wheels also allow the robot to travel much faster, so we had to gear it down to a manageable speed. This wheeled version also creates less vibration while driving.
Later we found that we had geared the robot down so far that we were unable to tell the difference between full and half-power, so we geared the wheels back up so that the robot could visibly change speeds depending on the distance to the tracked target.
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| Aerial View | Right Side |
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| Front View | Rear Pivot Wheel |
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| Left Drive Wheel | CMU Camera |
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| Sonar Modules | Laser Pointer |