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# Programming and Robots and Centrifuges, Oh my! - PowerPoint PPT Presentation

Group Four Catherine Fahey, Steven Falzerano , Nicollette Fernandez, Eliot M. Fine and Stefan Toubia. Programming and Robots and Centrifuges, Oh my!. Los Jefes. Darth Vader. Objective.

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Catherine Fahey, Steven Falzerano,

Nicollette Fernandez, Eliot M. Fine and Stefan Toubia

### Programming and Robots and Centrifuges, Oh my!

Los Jefes

Darth Vader

To create a robot that follows a course laid out in black tape, make a u-turn, and return to the starting line following the tape again.  In doing so, we can learn more about Interactive C programming and the Handyboard.

• Handyboard

• 2 motors

• 2 analog light sensors,

• Lego's (this includes treads, wheels, and gears)

• We chose:

• Treads: because the robot was able to make the adjustments more easily, and also the robot got more traction

• Gears: because the motors were too weak to actually move the robot

Our trial-and-error process helped us come to these conclusions.

void main(){

int lap;

lap=0;

while(start_button()==0){}

while(1){

if(analog(5)<200 && analog(6)<200){

motor(1,100);

motor(3,100); // if the light sensors read white then both motors go forward at a speed of 20

}

else if(analog(5)>=200 && analog(6)<200){

motor(1,-100);

motor(3,100); // but if analog 5 reads dark (the black tape), then the robot will turn right

}

else if(analog(5)<200 && analog (6)>=200){

motor(1,100);

motor(3,-100); //but if analog 6 read dark, then the robot will turn left

}

else if(lap==0 && analog(5)>=200 && analog (6)>=200){

motor(1,-100);

motor(3,100);

sleep(1.5); //the robot reads dark, then the robot will make a u-turn and head to the start line

while(analog(5)<200{};

lap ++; //new lap, repeats above but goes to next statement when reaches start line

}

else{

ao();// robot turns off once at start line again

}

}

}

• Friction

• Our original design (3 wheels: 2 with tires, 1 without), did not pick up enough friction

• Switched to treads

• Motors were too weak, so we had to add gears to help give more force

### Building a Centrifuge

• A piece of equipment that rotates about an axis

• Uses centrifugal forces to separate substances

• Heaviest molecules move to the bottom of the tube

• Used in biology, chemistry, and aeronautics

• Separate substances

• Meselson and Stahl experiment

• Used: IR “Top-Hat” sensor, scotch tape and a cuvette, gears, wheels

• Constructed:

• Base of legos

• Motor with gears to create an axel

• T-shaped crossbar attached to the axel

• One side had a cuvette the other had a counterweight

• Tires attached to base to act as shock absorbers and supports

*Note: need white paper behind cuvette

die Windmühle

void main(){

int speed=0;

float separation_time=5.0; // Time, seconds, that centrifuge will spin

float ramp_time=0.1; // Time, seconds, between speeds

printf ("\nHold Down Start Button to Take Readings");

while (start_button()==0) {}

while (start_button()==1) { // Top-Hat reads while button is pressed

printf ("\nAmount mixed is %d", analog(3));

sleep (0.2);

}

while (speed<=100) { // Speed gradually increases from 0 to 100

printf ("\nSpeed is %d",speed);

motor (1,speed);

sleep (ramp_time);

speed++;

}

sleep (separation_time); // Centrifuge spins for specified time at 100

while (speed>0) { // Speed gradually decreases from 100 to 0

printf ("\nSpeed is %d",speed);

motor (1,speed);

sleep (ramp_time);

speed--;

}

ao();

while (speed==0) { // Everthing shuts off and Top-Hat reads again

printf ("\nMixation = %d, Did they separate?”,analog(3));

sleep (0.2);

}

}

http://tinypic.com/player.php?v=34njo6s&s=4

• We learned:

• From the Robot:

• Treads are slower but they have more traction

• Going from big gears to small gears increases speed and from small gears to big gears increases torque

• A sturdy frame is crucial

• Improvements:

• Our code could have had a slower, more careful turn, so that it would not whip around

• Improvements with the centrifuge:

• Faster motors, more durable parts, more easily-removable cuvettes, a built-in IR sensor

• The code did work extremely well though