This program controls the Mouse robot (made by Robodyssey Systems) to clean off all
objects from a table.
The robot is equipped with a voltage divider board, or VDB, which is used to monitor the
light intensity measured by a common photoresistor.
To start the robot moving, turn off the lights
or cover the photoresistor to simulate a dark environment.
The robot is also
equipped with a Gripper and three infrared sensors. Two of the
infrared sensors are attached
the left and right front edges and point down to detect the edge of the table. The other
front IR sensor is forward-looking and is attached to the Gripper.
When the forward sensor detects
an object within 25cm, it rapidly moves forward until the object is within the Gripper's jaws.
The jaws then close on the object and hold fast with repeated
pulsing to the Gripper.
Once the object has been secured, the robot searches for the edge of a table. Once it finds the
edge, the opposite wheel will slowly rotate until the IR sensor on that side also sees the edge.
Then the Gripper's jaws open and the object drops to the floor. As it falls, the
piezo buzzer plays a descending tone.
The robot never stops, although it can be easily programmed either to pick up a certain number
of objects or to stop searching after a certain amount of time has elapsed with no object detection.
For fun, I added a small, wireless color video camera to my robot
so I could see the action from
the Mouse's point of view. This 1.2GHz camera runs off a 9V battery and continually transmitts live
video to its receiver, which connects to any device that has an RCA input.