By: Matt Shellhammer (Electronics & Control Engineer)

Approved by: Lucas Gutierrez (Project Manager)

Introduction

To navigate the maze autonomously we will have to store data about the path traveled while in RC mode (direction, row, & column). This data then be used when switching to RC mode to replicate the actions that were taken in RC mode.

Methodology

When navigating the maze in RC mode the robot should store the direction when it detects that it has entered a new room with an intersection and executes a turn. It should store the new direction that the robot is facing after executing the turn. This direction should be stored in a two dimensional array where the intersection number is in one row and the direction traveled for that intersection is stored in the next row. The robot should store the row and column in variables that are constantly being updated to allow for the robot to know where it is at any time. In addition when it completes the maze those variable can be used to verify it truly completed the maze. A subroutine can be executed when the maze was finished and the user exits (or stops) RC mode to store the final row and column value and check that the maze was completed.

Turns should be predefined by each project as a command that executes a right or left turn and then stores the new direction in the two dimensional array. This allows for turns to be executed in a single button push and makes determining when a turn was executed relatively straight forward.

Source Material

Featured Image: https://forums.xilinx.com/t5/Spartan-Family-FPGAs/S6-Multiboot-Golden-Image-Header-Redux/td-p/243836