SAMS RoboLab Programs

These are all the programs and subvis used to perform the FLL 2003 Mission to Mars tasks. SAMS did not attempt the task that pushed the habitation modules together. They did have a program for the task, but did not have enough time. The tasks that SAMS performed took about 2:20, which only left ten seconds to spare.

One motor (A) powered the left rear wheels and another motor (C) powered the right rear wheels. The large front wheels were unpowered and ran on the white rims so they could slip when the robot turned. The third motor (B) raised or lowered an arm on the front of the robot.

Some of the programs require a special attachment to the arm. Those attachments are described below.

SAMS Robot wiring

RCX ConnectionInput or Output
A left drive motor
B arm motor
C right drive motor
1 rotation sensor
connected to
left wheel's axle
2 left front light sensor
and
front touch sensor
3 right front light sensor

Slot #1: Get the Ice Cores or Drive into the Crater

Arm: A long arm with a hook at the end and a crossbar to keep the ice cores from dragging on the ground. The arm was removed after the mission.

Note: The touch sensor on the front of the robot was used to split this program (slot #1) into two modes of operation. A 2x2 angle was place over the touch sensor to run the "Into the Crater" mode. Because the touch sensor and a light sensor were stacked on input port #2, the test for the touch sensor used the a light sensor fork command. A value greater than 70 indicates that the touch sensor is pushed.

Program loaded into RCX Slot #1 Forward along a wall SubVi Forward while Counting Black lines version 2 SubVi Forward along a wall SubVi Forward SubVi Left Spin SubVi Arm Up SubVi Right Spin SubVi Backward along a wall SubVi Backward along a wall SubVi

Slot #2: Drop the Gate and Sweep the Solar Panel

Starting the robot from the tetrahedron base, a brush attachment was added to the back left corner of the robot. The attachment brushed the dust off the solar panel. The brush was removed when the robot returned to the base.

Note: The arm is lowered at the end of the run to prepare the arm for the next task.

Program loaded into RCX Slot #2 Forward SubVi Right Spin SubVi Backward SubVi Forward SubVi Right Spin SubVi Forward SubVi Right Spin SubVi Forward SubVi Arm Down SubVi

Slot #3: Drop Ball into MAV Launcher

Arm: A ball drop arm was added to extend the existing arm. The same arm was used in the next task.

Note: SAMS redesigned this task after having experiencing difficulties at regionals. The previous program relied on precise positioning. By using a line detector, the robot only required accurate aiming.

Program loaded into RCX Slot #3 Forward until the past the nth black line SubVi Forward SubVi Arm Down SubVi Arm Up SubVi Forward SubVi Backward SubVi

Slot #4: Drop Housing Modules in a V or Calibrate the Light Sensor

The arm carries two housing modules over the MAV launcher and drops them onto the existing housing module. Two blue rubber bands connect the arm to a brace that connect the housing modules together. When the arm is lowered, magnets on the housing modules lock together and the rubber bands release. The rubber bands are left on the table.

The second mode of operation calibrates that light sensor. Container #4 holds a number representing black plus three. A typical value was 37.

Program loaded into RCX Slot #4 Forward SubVi Arm down SubVi Backward SubVi

Slot #5: Get the rover off the sand dune and drive into the crater

Arm: A "bulldozer" extension to the existing arm that was set to travel about two inches above the ground. This program was the last program developed by the SAMS team. The programming comments were not completed.

Program loaded into RCX Slot #5 Forward until the past the nth black line version 2 SubVi Spin Left SubVi Forward until the past the nth black line version 2 SubVi Spin Left SubVi Forward SubVi Spin Left SubVi Forward SubVi Backward SubVi Forward SubVi Backward SubVi Spin Left SubVi Forward SubVi
SAMS at the Sandburg Regional
SAMS at the Minnesota State FLL Competition
MN HighTechKids site
Doug Frevert