

File: Bill_of_Materials_Kemmel_Track_R02.txt
R01 - 2010 Oct 10 - hdrake
R02 - 2011 Apr 07 - hdrake - TabbyCat Robots

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Track Material Spec
----------

Materials
---------
Staples Banner Paper - 30in x 52ft - this is approx 20 - 22 weight paper -

Gorilla Tape - Black - nominal 2" wide - actual 1-15/16"

Target - work.org brand - rectangular labels self-adhesive 2" x 4"

Valspar Flat Interior / Exterior Black - 65050
Valspar Satin Interior / Exterior Garden Green - 65036
Krylon Indoor/Outdoor Gloss True Blue - 51910
Krylon Indoor/Outdoor Gloss Sun Yellow - 51806
Krylon Indoor/Outdoor Gloss Banner Red - 52108
Krylon Matte Finish - 1311


Construction Methods
--------------------
The black tape is cut in half to yield strips for line
following that are approx. 1" wide.

To make the 3 lanes, the tape is applied such that the left side
of the tape strips is 5", 15", and 25" from the left side of the
paper.  After the tape is laid down, it is sprayed with a light
coat of the matte finish.

The labels are painted before assembling and applying.
The black, green, yellow, and red are sprayed on the labels in
2 thin coats, rather than one thick coat.  After drying, the
2 thin coats should be thick enough so no white shows through,
but not so thick as to be shiny.

The blue is applied as 2 thin coats, then a coat of matte.  Again,
no white should show through.

The blue, green, yellow, and red labels are cut in half to form two
2" x 2" squares.

To construct a one-color signal, apply the 2x2 color label to the
center of a 2x4 black label.  This produces a signal that as the
robot travels over it, the robot will traverse  1" of black, 2" of
color, and 1" of black.

To construct a two-color signal, cut a black 2x4 label in half to
form two 2x2 squares.  Apply the first color label, half over the
2x2 black label, and half over a 2x4 black label, thus connecting
the 2 black labels.  Then apply the second color label adjacent to
the first.  This produces a signal that as the robot travels over
it, the robot will traverse  1" of black, 2" of the first color,
2" of the second color, and 1" of black.  (diagrams to be added.)

Apply the completed signal to the track, such that Gorilla tape is
half covered.  i.e. starting on the left side of the tape, 1/2" of
tape is visible, then the left side of the signal.


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NXT Software
------------

Firmware
--------
Current Installed: 1.29


Programs
--------
Written in NXC version: 1.2.1.r2 (2010-06-06)
using the BricxCC IDE version: 3.3 (Build 3.3.8.8)

WHYY_05_Kemmel.nxc
WHYY_Defines_Kemmel.h
NXC_Explr_Kemmel.h
NXC_Explr_Roadway_Global_Variables.h
NXC_Explr_Line_Contrast_Discover.nxc
NXC_Explr_Display_Pathfind_Data.nxc


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The Robots
----------
Currently very structurally sound,
good torsional rigidity,
look terrible - need Adrian Newey.


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References
----------
I firmly believe in Isaac Newton's quote:
"If I have seen further it is only by standing on the shoulders of giants."
or "Give credit where credit's due."

My NXC line following code is from ideas in the NXT-G program LineFollowPro,
at http://www.nxtprograms.com/line_follower.
I could not find an author's name.

Lego Mindstorms NXT Power Programming
Robotics In C
Second Edition
John C. Hansen

Creating Cool Mindstorms NXT Robots
Daniele Benedettelli

An Introduction to ANSI C on Unix
Paul S. Wang

NXC Programmers Guide
June 8, 2010
by John Hansen
NXC
Version 1.2.1 r3

Programming LEGO NXT Robots using NXC
(beta 30 or higher)
(Version 2.2, June 7, 2007)
by Daniele Benedettelli
with revisions by John Hansen

The Lego Mindstorms NXT 2.0 Discovery Book
Laurens Valk

