Affray
Region V, 2009

Task:
Sorts colored cubes with a camera (CmuCam2) on a course split into areas marked with flashing LED's at different frequencies. Affray drives with two motors in tank steering configuration with a ball caster.

Specifications:
Microcontroller - Luminary Micro LM3S815
Main Sensors - BG Micro Quadrature Encoders, CmuCam2, Light Frequency Detector
Additional Sensors - Line Sensors - Pololu IRS02A
Software - C code using GCC
Drive - Two Faulhaber 2224 6V motors, One ball caster
Manipulator - Actuated bowl

Members: Nicu Stiurca, Richard McClellan, Alex Boehm, Stephen Hall