Reconfigured Robot Rally Roomba

"R4"

(Reconfigured Robot Rally Roomba)

Specifications

Chassis:           A cannibalized “iRobot Roomba” (model: 4110) vacuum cleaner.  All Roomba components were taken out except the   motors, H-bridges, wheels, encoders, and 4 cliff sensors.

Processor:       Arduino Atmel Mega 1280

Digital I/O:                  54 (14 PWM)

Analog I/O:                  16

Weight 5.6lb               Diameter 14”              Height 6.25”

Power 16 AA batteries.

Max speed (calculated) = ((2.56”*pi)* 138rpm)/60 = 18.5 in/sec

Max speed (tested on hard floor) = (207in/12sec) = 17.25 in/sec

1st year competing R4

Outfitted with the following additional components:

·         Four Infrared Proximity Sensors Short Range - Sharp GP2D120XJ00F

·         Two Ultrasonic Range Finder - MaxBotix LV-EZ3

·         Homemade infrared line following sensor array (5 sensors) 

·         Deployable plow 

Event                                      Sensor or component utilized for event

Beacon Killer:                                Pololu IR beacon transceiver pair.

Beacon Killer w/obstacles      Pololu IR beacon transceiver pair. 

Four Sharp infrared proximity sensors for object detection

Dead Reckoning:                     Onboard Roomba incremental encoders

Line Following:                        5 homemade IR line sensors

Bulldozer:                                4 onboard Roomba cliff sensors.

4 Infrared Proximity Sensors for object detection

Expandable Plow wings 

The build report can be downloaded at www.Atlanta-Robotics.com