The Squirrels-in-my-Pants robot, or SIMPBot, is an autonomous System for Quick Removal of Litter (SQRL) inspired by the timeless Phineas and Ferb song Squirrels in my Pants. Read on to learn more about its features and functions!
The GameThe SIMPBot's purpose is to send A Cylindrical Object Representing a Nut (ACORN) from one Yet Another Region of Dumping (YARD) to another. To do so, it must first determine whether it is in Karl's or Ed's YARD from any initial orientation in the starting zone using the beacons sending infrared (IR) pulses at different frequencies. It must then send the first ACORN, which is located adjacent to the SIMPBot, across the Fortification Ensuring No Crossing, ExceptForACORNs (FENCE) to the opposing YARD. Finally, the SIMPBot can drive to two Tubular Repositories of Excess Eject-ables (TREEs) to retrieve more ACORNS and send them to the opposing YARD for more points. ACORNs sent by the opposing bot can also be returned to their original YARD for further point scoring. |
YARD Determination
The SIMPBot remains idle until the start button is pressed. Then, it rotates and senses the beacons in order to determine the YARD in which it is located. Afterwards, the top servo position is updated to indicate the SIMPBot's current YARD. It is then smart enough to know which direction to rotate to face the FENCE!
Check out the Electrical page to learn more about the SIMPBot's beacon sensor and the Software page for more information about the YARD determination algorithm!
Check out the Electrical page to learn more about the SIMPBot's beacon sensor and the Software page for more information about the YARD determination algorithm!
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ACORN Retrieval and Ejection
The SIMPBot employs a curved arm and straight arm to scoop ACORNS and a spring-based reloadable ejection mechanism to fire them into the opposing YARD.
Check out the Mechanical page to learn more about the ejection and retraction mechanisms! |
TREE Navigation
The SIMPBot employs 90° turns and tape tracking to reach a TREE. The turns are time-based on rely on a robust PI controller, and tape tracking is achieved through Bang-Bang control.
TREE Clearing
Using a limit switch, the SIMPBot stops at the TREE. From there, it retrieves an ACORN and sends it over to the other YARD. It then repeats the process, driving back to the TREE and sending ACORNs across until the TREE is empty. The SIMPBot is then free to clear the other TREE or play defense!