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|Target Environment||Locomotion Method|
|Sensors / Input Devices||Actuators / Output Devices|
|4 IR floor sensors
IR proximity sensors
|2 DC motors|
|Control Method||Power Source|
|CPU Type||Operating System|
|N/A||Less than 500 grams|
|Time to build||Cost to build|
|URL for more information|
|Cronos2 is my first successful mini-sumo. Cronos1 was never completed due to its design going over the 500 gram limit. Too bad as it was going to look cool!
Cronos2 uses 2 standard hobby RC servo motors. To fit in the required 10x10 centimeter limit the robot is designed with the motors siting side by side. Thus, the motor's axis is offset from each other. This has proven not to have generated any problems in this small a robot with its low center of gravity and symmetrical weight distribution. The wheels are from a old junked RC car. The tires are RC racing slicks. It took a lot of experimenting to cut foam inserts to ensure the tires would be just right.
The robot is designed to be completely symmetric, the front and back are identical. The IR proximity sensors are mounted front and back. Thus the robot has no front or back. It will go in what ever direction itsees an opponent.
Ramps are also located on either side. They are stored vertically to bein the size rules at the beginning of the match. After the robot waits the mandatory 5 seconds it executes a couple sharp forward back movements. The ramps are held barely in place by some tiny magnets. The movements are enough to cause the ramps to fall in place. The original ramps (yellow) had a bit to high an angle to effectively scoop up an opposing robot. The red and black ramps work very well at getting under an opponents robot and spoiling its traction.
There are four IR reflective floor sensors, located on each corner. These are used to detect a 1" white band that indicates the robot is near the arena edge.
The processor is a 16F84 running Pic Basic at 4 mhz.