To help us keep on track while building and testing D.A.R.T. we came up with a schedule that would include everything we would need to do to finsh the project, and when these tasks would need to be finished.  Since keeping up with the schedule was part of our grade, it was important that we followed it.  The remaining phases of our project along with the goals and tasks for their completion are as follows:
 

• Phase I - Build the Prototype (January 5 - February 2, 1999)
• Goal of Phase
• Prototype of Robot is completed and can be controlled via keyboard commands on PC.
• Commands sent from PC to Handiboard via RF link.
• Handiboard interprets commands and controls motors.
• Tasks
• Build Robot. (Frame, motors, wheels, Handiboard, RF receiver.)
• Program Handiboard and PC.
• Integrate RF link with PC and Handiboard.
• Phase II - Make Robot Autonomous (February 3 - March 2, 1999)
• Goal of Phase
• Commands sent to Robot are now initiated by PC using data from visual system.
• Tasks
• Add and program visual system.
• Modify software on PC to interpret given locations from visual system and send commands to Robot.
• Phase III - Make Robot Smart (March 3 - March 23, 1999)
• Goal of Phase
• Robot will play soccer well in mock tournament (March 23, 1999).
• Offense: Score goal in less than 30 seconds.
• Defense: Defend goal from incoming ball.
• Tasks
• Test and Refine Offensive and Defensive Strategies.
• Write software that incorporates Offensive and Defensive Strategies.
• Refine Communication Links and Protocols.
• Phase IV - Refinement and Documentation (March 24 - April 6)
• Goal of Phase
• Win Soccer Tournament on March 30.
• Create a Thorough Report for April 6.
• Tasks
• Fix problems from mock tournament.
• Organize documentation into a clear report.
• Put results and all documentation on web.

With these goals in place and the tasks outlined, we thought the best way to accomplish them was to divide up the various responsibilities between the team members.  This breakdown, along with the anticipated numer of hours required for eash task, are as follows:
 

• Phase I - Build the Prototype (64 hours)
• Build Robot - Headed by Daniel Wheeler (22 hours)
• Select final materials and draw final schematics (8 hours)
• Build basic frame (6 hours)
• Physically mount motors and wheels (4 hours)
• Mount RF Receiver and Handiboard (2 hours)
• Wire motors to Handiboard (2 hours)
• Program Handiboard and PC - Headed by David Dougall (20 hours)
• Write software for Handiboard (10 hours)
• Polled Loop/Take data from RS-232 (5 hours)
• Decode Directions (3 hours)
• Output voltages for motors (2 hour)
• Write software for PC (10 hours)
• Read arrow input from keyboard (1 hour)
• Post data to queue/Set up message queue (9 hours)
• Integrate RF link with PC and Handiboard - Headed by Zachary Smith (22 hours)
• Determine encoding for RF link (3 hours)
• Write software for PC (14 hours)
• Interface with RS-232 (10 hours)
• Pend data from queue, encode, and send to RS-232 (4 hours)
• Test and refine RF link (5 hours)
• Phase II - Make Robot Autonomous (40 hours)
• Add and program visual system - Headed by Zachary Smith (20 hours)
• Setup visual system (10 hours)
• Program visual system to track three colors (5 hours)
• Orange, Red, and Blue
• Compute and output position and velocity vectors (5 hours)
• Modify software on PC - Headed by David Dougall (20 hours)
• Read position and velocity vectors from visual system. (12 hours)
• Write simple algorithm to produce commands (8 hours)
• Robot goes to ball if not in possession of ball.
• If in possession of ball, go to goal.
• Phase III - Make Robot Smart (61 hours)
• Test and Refine Offensive and Defensive Strategies. - Headed by Daniel Wheeler (30 hours)
• Determine strategies (10 hours)
• Test and change strategies (20 hours)
• Incorporate Strategies - Headed by David Dougall (20 hours)
• Incorporate offensive strategy (10 hours)
• Incorporate defensive strategy (10 hours)
• Refine Communication Links and Protocols - Headed by Zach Smith (20 hours)
• Refine Visual System Protocol (5 hours)
• Add Error coding to RF Link (8 hours)
• Increase precision and number of speeds of Motor Control (7 hours)
• Phase IV - Refinement and Documentation (60 hours)
• Fix problems from mock tournament (20 hours)
• Organize documentation into a clear report (20 hours)
• Put results and all documentation on web (20 hours)

With everything now all planned out, all that was left to to is actually build, test, and modify D.A.R.T. until it worked the way we wanted it to.

Requirements and Specifications
Design Criteria
Body-Of-Knowledge
Evaluating Alternatives
Selected Design
Schedule
Building and Programming
The Competition
Conclusion
Meet the Team
Images
Links