This repo conatins all the iterations of my code for the APSC 101 autonomous claw project. The objectives of the claw are to pick up a variety of items and transport them accurately and efficiently.
In this video we are practicing for the claw compeition, coordinating our alignment, movement, retrieval, and dropoff technique. The claw is running the simple_algorithm.ino in this video.
competition.mp4
servo_sonar.ino a program to position a servo's angle based on sonar height
distance_algorithm_v1.ino a program that opens and closes a claw with LED indicators of the algorithm's state
timeout_algorithm.ino implementation of a timeout to reopen and close the claw when an object is unsuccessfully picked up
timeout_algorithm_v2.ino fixed issue where timeout v1 would get stuck in the green phase, changed do while to a while loop
simple_algorithm.ino a reliable program that switches between opening and closing whenever the claw is close to the ground
Running the distance_algorithm_v1.ino code, this video shows the basic functionality for the sonar to recognize being in pickup, moving, and dropoff states.
distance_algorithm_v1.mp4
Running the timeout_algorithm_v2.ino program which is fully functional and fully tested. In order, the video demonstrates a normal operation, the claw functioning while unstable, and the a failed attempt to grab an object in which the claw opens and closes again before dropping off on the other side.
functional_algorithm.mp4
Using simple_algorithm.ino this video demonstrates the program flashed to a prototype claw.