6.01, Fall Semester, 2007—Assignment for Tuesday 12/4 1MASSACHVSETTS INSTITVTE OF TECHNOLOGYDepartment of Electrical Engineering and Computer Science6.01—Introduction to EECS IFall Semester, 2007Assignment for Tuesday 12/4Final exam: The final exam for 6.01 will be held on Wednesday, December 19th. It is a 6-hourex camera (take-home) exam. You can pick up in 34-501 starting at 1:30PM, and bring the examback to 34-501 from 6:30-7:30pm (or you can e-mail your solutions by 7:30pm). The exam willconsist primarily of conceptual and technical questions associated with the course. The exam isopen-book, open-notes, but you must work on the exam by yourself.All that glisters is not goldThis final lab is a single project spanning three lab periods. You will work with a partner andtogether you will design a robot and head system that can, from any starting position, navigatethrough a simple world and stop in front of a lamp. However, there are two lamps, and your robotmust stop in front of the correct lamp. More specifically, we have mounted two lamps in Shannon’sworld. One lamp is mounted in the middle of the short wall near the obstacle in Shannon’s world,and one is mounted on the short wall further from the obstacle. Your job will be to drive up to,and s top in front of, the lamp in the center of the wall farthest from the obstacle.The two key problems will be to find the lamp given your robot can be started at any randomposition and orientation in Shannon’s world, and then to avoid b e ing fooled by the incorrect lamp.You will have three lab periods to complete this final project. During today’s first lab period youwill attach your robot head to the robot. Then you will design and implement an approach so thatthe robot can find a lamp that is a short distance away and in an arbitrary direction (think aboutthe cas e when the lamp is behind the robot). Then the robot should reliably drive up to and stopnear that lamp.To begin, get a lab laptop and make sure you update your laptop.Runathrun 6.01 updateto get Desktop/6.01/lab14 directory which has the files needed for this lab.While attaching your robot head to the robot, please test at each step to avoid damaging yourrobot head or the robot. Specifically, you should• Get a robot and a robot head (either your’s or your partner’s).• Test your robot head using a protoboard power supply.• Use the robot’s NIDAQ GND, AI4, AI5, AI6 and AI7 inputs, and AO0 outputs to interfaceto your robot head.• Modify the exampleControl.py brain in the lab14 directory and dem onstrate you can com-municate with your robot head.• Connect your robot head to the robot (you may need some velcro tape).6.01, Fall Semester, 2007—Assignment for Tuesday 12/4 2• Use the white(+12) and black (Ground) wires from the robot for power.Once you have the robot head tested and mounted on the robot, modify the exampleControl.pybrain to make the robot move to and stop near a lamp.Checkpoint: 1:00• Demonstrate that the robot can find a lamp in an arbitrary direction and move toand s top near the lamp.To Hand InNothing. Just make sure you and your partner get checked
View Full Document
Unlocking...