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Semiautonomous Weapons
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A semiautomatic weapon system is a valuable method that can be used to overcome this distraction and experience problem Figure 11-6 shows a simplified schematic that demonstrates how to implement an automatic weapon system, such as a hammer or a spike The system uses a proximity or range sensor such as the Sharp GP2D05 range detector This sensor is designed to trigger a signal when the opponent gets within 24 inches of your robot The output from this sensor is fed into a microcontroller that turns on the H-bridge that drives the weapon s motor A limit switch on the robot tells the microcontroller that the weapon completed its range of motion and that the motor needs to be reversed to retract the weapon For safety purposes, the microcontroller must be connected to the radio control (R/C) equipment s receiver The microcontroller must shut off the automatic weapon feature if it loses a command signal from the receiver To enable a manual weapons control, the microcontroller can be used to control a single-pole double-throw (SPDT) relay that can bypass command signals between the receiver and microcontroller to the weapons motor controller With the automatic weapon system activated, all you have to concentrate on is positioning your robot against your opponent, and you can let the internal robot brain control the weapon for precise attacks When you run up against a wall, you can quickly disable the automatic weapon system so that your robot doesn t attack the walls And when the time arises, you can still manually attack your opponent
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The next level of semiautonomous control is to implement semiautonomous target tracking With this type of system, you can simply drive your robot close to
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FIGURE 11-6
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Semiautonomous weapons systems diagram
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your opponent, and your robot s sensors will lock onto the opponent and take over the driving You maintain complete control of the weapon and let your robot push the opponent around the ring, you can have all the fun smashing its opponent to pieces with its weapon This type of a system needs at least two range detectors, such as the Sharp GP2D05 or the Devantech SRF04 Place both of these in front of your robot with the detection beams crossing each other A microcontroller is used to monitor both sensors and to control the motor controllers With this sensor configuration, the logic for driving the robot is relatively simple If the left sensor detects the opponent, turn your robot to the right If the right sensor detects the opponent, turn your robot to the left If both sensors detect the opponent or both detectors do not detect the opponent, drive forward You manually drive your robot up to your opponent until it is within your robot s crossing beams reach, and then you can enable the semiautonomous tracking system and your robot will close in on your opponent on its own Figure 11-7 shows a simplified schematic of this type of control system As with the semiautonomous weapons system, an active link must exist between the radio receiver and the semiautonomous target-tracking system s microcontroller If the microcontroller loses contact with the radio receiver, the semiautonomous target-tracking system must shut down and enable manual control of the robot
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The next level of control is to use the range-finding sensors such as the GP2D02, GP0D12, SRF04, or the Panasonic 6500 With these sensors, the microcontroller can be programmed to keep your robot a specific distance from your opponent, say 12 to 18 inches If the opponent moves away, your robot will close in on it; and
FIGURE 11-7
Semiautonomous target-trackingsystem block diagram
11:
Autonomous Robots
if your opponent moves too close, your robot will back away from it Using this type of system, you can keep your opponent inside the sweet spot of your robot s weapon s strike zone This type of system can be advantageous against the aggressive spinning robots You can automatically keep your distance from the dangerous spinning weapons and focus your efforts on hitting the top of the spinning robot with your bot s axe or hammer
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