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Wall Race

 

 

The Wall Race is a new competition created by the AHRC that focuses on the basic robot skill of wall following. Each robot will follow along a wall, make a turn, and proceed to make contact with a box.  After making contact, the robot must retrace its route, contacting a second box located behind the robot's starting position. Two robots will run at a time, on either the left or the right side paths. The robot that finished first is the winner.  Click here for the complere rule set in pdf format.

 
This contest was designed with several goals in mind:
  • Head to head competitions are much more entertaining for audiences to watch.
  • Participation is greatly increased when the event can be done using popular robot kits with only minor modifications.
  • Wall following is a basic robot skill but is not part of any existing AHRC event.
  • Avoid building any new playing fields or other equipment as much as possible.
  • Maybe in the future a wall following event can be added to Polyathlon.

 

Robots:

 

There are many ways to create a wall following robot. Here's one option:

 

Pololu Zumo: 

 

https://www.youtube.com/watch?v=snCv57PUe70&feature=youtu.be
  
Parts List:
  1. Zumo Shield V1.2
    1. Option 1: Order the Kit and Motors separately and build on your own. 50:1 gear motors recommended.
      1. https://www.pololu.com/product/2508
      2. https://www.pololu.com/product/998   
    2. Option 2: Order the Kit pre-assembled with 75:1 motors.
      1. https://www.pololu.com/product/2510  
  2. Protractor Proximity Sensor
    1. https://www.tindie.com/products/Robogao/protractor-proximity-sensor-that-measures-angles/  
    2. Optional: Protractor protective case
      1. Print yourself: https://www.thingiverse.com/thing:2539829
      2. Order from Shapeways:  https://www.shapeways.com/product/KK2YKXNVV/protractor-case
  3. 4x AA batteries.  Rechargeable NiMH recommended.  
  4. Screws and Standoffs for mounting the Protractor to the Zumo
    1. Two 4-40 or M3 nuts
    2. Two 4-40 or M3 standoffs, 1/4" to 1/2" (6mm to 12mm) long.
    3. Two 4-40 or M3 screws, 1/4" to 3/8" (6mm to 8mm) long OR if you print the Protractor case use 5/8" to 3/4" (16mm to 20mm) long
  5. Pin Headers and Wires to connect Protractor to the Zumo
    1. 6x 0.1" male headers
    2. "Dupont" ribbon cables 10cm or longer, female to female.
Code:
Sample code can be found at the following link:  https://github.com/robogao/WallRace
While this code is designed to work with the Zumo and Protractor, it can be adapted to work with other robots using a Protractor for sensing.

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