Page 205 - Robot Design Handbook ROBOCON Malaysia 2019
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Software design of the MR1 is based on autonomous and manual mode. The operator
can switch between the modes to complete the tasks. Generally, the position of the robot is
calculated by using two external rotary encoders. In case of emergency, the operator can
stop the robot using the controller. The algorithm for the MR1 is shown in Figure 3.
At the start of the game, the MR2 will have wait for the Gerege to be received. After
receiving the Gerege, it will start to move, cross the Sand Dune and Tussock. At Mountain
Urtuu, after climbing signal is given by the operator, the MR2 will start to move to Uukhai
Zone. It will stop and raise the Gerege when it reaches the Uukhai Zone. The algorithm for
the MR2 is shown in Figure 4.
3.0 DATA ANALYSIS
A simple result for tuning the navigation of the MR1 is shown in Figure 5. The PID
of the navigation motor is tuned until the graph is raised perfectly.
Figure 5: Graph of distance against time
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