Dissecting a SandwichWhat is Sandwich?SensorsFeedbackBuildingSlide 6DebuggingParametersDemonstrationCreditsQuestions?Dissecting a SandwichMark GordonEngineering 315December 9, 2002What is Sandwich?•Line Following Robot•From Robot Building for Beginners–David Cook•Follows Either a Light Line on a Dark Surface or Dark One on a Light SurfaceSensors•Cadmium Sulfide Photo-Resistors–Variable Resistances Cause Variations in the Voltage Drop•White LED–Reduce Shadow Effects–Allow for ‘Night Runs’Feedback•Voltage Comparator Chip–Senses which Set is Closer to the Line–Produces a Ground or Disconnect•A Pullup Resistor Converts it to Ground or High–High Causes the (Opposite) Motor to RunBuilding•Circuit–Breadboard•LED Circuit•Headlight Circuit•Other–Sensors, Motors, Side LEDs, and Comparator Chip–PCBBuilding•Body–Ziplock Sandwich Container–Lego Wheels–Gearhead Motors–CouplerDebugging•Side LEDs–Show Which Motor Sandwich Thinks Should be Running•Check Overall Resistance–Check Individual Resistances–Find Bad PhotoResistor Parameters•LED Brightness–Brighter LEDs•Sharper Reactions–Will Turn Sooner•Picks Up Lower Variations in Color–Dimmer LEDs•Uses Less Power•Reactions are not as Abrupt–More Likely Both Motors will be RunningDemonstrationCredits•Electronics Aid–Chuck Holwerda•Machine Shop Aid–Dave Ryskamp•Time Provider–Professor Ribeiro•Book Writer–David Cook•Putter-Upper-Wither–Rachel
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