Build Your Own Combat Robot

288 Build Your Own Combat Robot
FIGURE 13-8
Schematic of a
simple infrared
detector pair for
sumo edge
detection.
(courtesy of
Bill Harrison)
FIGURE 13-9
Flowchart of an
autonomous mini
sumo with edge
detection.
Two different sensor packages should be used in a mini sumo. Each sensor
should be mounted on the front corners of the mini sumo, just behind the front
scoop. This way, the mini sumo will know which side of it approached the edge of
the ring.
Figure 13-9 shows a flowchart of how to get a mini sumo to work with only its
edge detectors functioning, and the Basic Stamp 1 source code shows an example
of how to implement the sensors and modified R/C servo motors together into a
working mini sumo. At the end of this chapter, there’s an example program that
uses two edge detectors to keep a mini sumo on the sumo ring. There have been
several very successful mini sumo bots that have used only edge detectors to win
tournaments.