GEARS

The map of the maze was produced using a number of different sensors. Robot path was identified using built-in encoders and an ultrasonic sensor array containing three separate sensors. Hazards were detected using a combination of IR sensors and a magnetometer built-in to the provided Inertial Measurement Unit (IMU). A separate gyroscopic sensor was used to keep track of an provide feedback for robot turns, which was tracked as a part of the mapping process.

Much of the architecture was reused from the previous semester's project, MACRO. However, a multitude of new features were added. The new software takes advantage of Python's object-oriented architecture to more efficiently pass data between software classes. Software functions were also differentiated a great deal more, allowing for more complex customization of final run time routines. A "reset" function was also added, which allowed for a full reset of all robot functions and sensors. Calibration routines were integrated into the system as well, adding the ability to carefully tune sensors for the current environment.

Among other new software features, the GEARS was also capable of monitoring its own system outputs using onboard sensors. Shown to the left was a measurement taken by the GEARS to confirm that its motors were traveling at the correct speed and were acting at the same time as the other. Graphs like this were produced for multiple features of the robot, detailing things like beacon detection range, ultrasonic sensor data, and more.