CPSC 3720 - Spring 2009
Project: Lego Mindstorms Robot (LMR) System 


Introduction
------------

The LMR system consists of a Lego Mindstorms robot you are required to
build and a personal computer that controls the motion of the robot
via an wireless Bluetooth interface. In addition to constructing the
robot, you are required to build the software running on the robot and
on the PC. You will be split in several pairs of teams, one
responsible with developing the PC software, the other with the robot
software. Each pair of teams will be given a Lego Mindstorms Robot
kit. Each participant receives an account for the computer labs in the
Math and CS department where you can develop the system. However, you
are free to use any other platforms, for example your personal laptop,
etc.

This document gives a very general description of the system you are
required to implement for this course. You are responsible to extract
a workable list of requirements by interviewing your instructor during
the "Requirements Elicitation" class (see schedule) and by discussion
with your peers (for example, with your sister team developing the
other half of the system).


Purpose of the system
---------------------

a) to have fun (hopefully)
b) to experience the development of a non-trivial system involving
both software and hardware components
c) at the completion of the project, we want to have a soccer
competition where two robots will play against each other. 


Some general requirements for the LMR system
----------------------------------------

1. The operator controls the robot real-time using the interface
provided by the PC software. She can give commands to the robot such
as: move forward/backwards, turn right/left, etc. The interaction
should be similar to that experienced when playing a "car race" game
on the computer, except that the "virtual car" is replaced by the
robot. 

2. The robot should have three wheels. Two of the wheels are
controlled by a motor each. When the two motors turn at different
speeds, the robot turns. To play soccer, the robot should also be
equipped with a "shooting arm". The arm is controlled by the
operator. Directions to construct the robot come with the kit.

3. The operator must be able to control the speed of the
robot. 

4. The robot must function when other robots using the bluetooth
protocol are present. 

5a. The robot must know about distances and angles. For example, the
operator can give a command such as "forward 23 cm" and the robot
should travel forward 23 centimeters, on a line as straight as
possible. 

5b. The robot must have the possibility to record its motion
pattern. The operator can enable the "record" mode of the robot. In
this mode, the movements of the robot as controlled by the operator
are remembered. When the record mode of the robot is off, the robot
can be asked to perform the most recent motion stored in its
memory. The robot must be accurate in remembering distances, angles,
and velocities for movement.

6. The robot should be able to lose/regain the connection with the
station automatically and gracefully. For example, it should be possible
to shutdown the PC software and to start it again, without the need to
reboot the robot. In particular, if 5b is implemented, the robot
should not lose its recorded motion if the connection with the PC is
lost.