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Body Position 1 Servo and port address 1 PortB2 2 PortB3 3 PortB7 4 PortB6 5 PortB5 6 PortB4 Body Position 2 Servo and port address 1 PortB2 2 PortB3 3 PortB7 4 PortB6 5 PortB5 6 PortB4 Pulsout value 100 100 100 210 100 100 Pulsout value 150 210 150 100 150 210

(yellow), black (disqualified), red (stop), and winning (checkered) flag commands to drivers circling the course before and during a race Line-up officials: Place cars on the track as handicapped Pit stewards and handicappers: Organize racing cars in starting and restarting positions Scorers: Determine and record the running positions on each lap and the finishing positions for each competitor in each race Security guards: Handle crowd control Tech inspectors: Approve cars in each heat or event for safety and adherence to track specifications before racing and after any accident damage Track crew: Aid drivers of damaged cars in getting off the race course, control race traffic, prepare and clean the track Track officials: In charge of overall racing events, dealing with rules infractions and ordering yellow or red flags to slow or stop racing or black flags to remove race cars for rules infractions

Wisconsin University of Wisconsin-Milwaukee (MArch) School of Architecture and Urban Planning PO Box 413 Milwaukee, WI 53201 wwwuwmedu/SARUP

To make the robot snake turn to the right, the same sine wave pattern will need to occur in the vertical moving body segments, but the snake s body will also need to oscillate between the middle position and a position where the body is arched to the right The pulsout values needed to control this movement are listed in Table 59 and will be used when programming the snake Figure 562 shows the two positions that the snake s body will oscillate between to turn to the right You might have noticed that when positioning the robot s body to the right, smaller pulsout values were used This is to take into account the extra weight of the servos that are positioned on the right side of the snake s body

Body Position 1 Servo and port address 1 PortB2 2 PortB3 3 PortB7 4 PortB6 5 PortB5 6 PortB4 Pulsout value 150 210 150 100 150 210

Body Position 2 Servo and port address 1 PortB2 2 PortB3 3 PortB7 4 PortB6 5 PortB5 6 PortB4 Pulsout value 190 100 190 210 190 100

CANADA (CACB-ACCREDITED DEGREES)

The next section outlines conditioning the input received by the infrared sensor The motion control algorithms and sensor input routines will then be put together into one main control program The infrared software routine will need to take input from the infrared sensor so that the robot can change its behavior to safely avoid any obstacles it may encounter while moving through its environment A software subroutine will be developed to monitor the infrared sensor modules, perform signal processing to clean up any background noise or transient signals to make the information more useful, and then return results to the robot s main program In this behavior-based method of artificial intelligence, the robot will continue on with the dominant behavior of exploring, and will change that course of action immediately based on sensor input We want the main program to call the subroutine and have the subroutine simply return a value of either a 1 or a 0, with 0 indi177

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