Hardware Strategy
-= Maximizing Funtional Range =-
From a purely mechanical standpoint, there were some important issues
to be considered. Primarily the robot should allow a resonably large
number of response speeds as well as a robust and modifiable
body. These primary concerns translate into a low weight, highly
efficient locomotion and a modular structure. The focus on robustness
of design and modularity is purely pragmatic and there are many
variables which work against each other in such a design. However, the
concern with the range and granularity of the response speed is very
important because a greater range of outputs provides a greater range
of inputs. More specfically, a larger number response speeds will
ultimately allow a larger number of ball speeds to be handled. A
related argument can be made for the detection of the ball speed, a
greater range and granularity of speeds will translate into an
increased ability to provide different response speeds. So it was part
of the team's strategy to use the mechancics of the system in a way
that would maximize the range of these two characteristics.
The major inputs for RoboPele would be from sensors installed in the
ramp trough. The sensors would be triggered by the movement of the
ball during its trip down the ramp. The RCX would respond to these
inputs and depending on the time it took for each successive sensor to
be trigger the cart would begin movement at different times and
accelerate to different final speeds. The sensors should be spaced as
far apart as possible in the trough to allow for a maximum granulairty
of speed measurement.