You have been challenged to a Line Following triathlon!
Official Line Following Rules
The line following triathlon is a series of 3 events centered around following or finding lines. Although each event will have first and second place winners, the main goal is to be the overall "Winner" of the triathlon. Each robot entry is expected to compete in all 3 events.
Robots: Robots must be constructed of official LEGO elements or their generic equivalent. The onboard computing device must be one or a combination of the following: Cybermaster, MicroScout, CodePilot, Scout, Spybots or the RCX programmable brick. There is no limit as to how many or how few computing units a robot employs. Homebrew sensors and multiplexors are allowed, all other modifications to LEGO elements or their generic equivalent is prohibited.
A single contestant may enter multiple robots if that contestant has the building and computing means to do so.
Each robot is to have built into it's design an obvious marker point. This marker will be used for judging the distance from the finish line in the accurate stop event. The marker must be the equivalent of 1 stud and should be a different color from it's adjacent elements. (See images for an example.)
Control: All robots are to act autonomously, that is to say, robots must operate without human control during a match.
Weight & Size: There is no restriction on robot weight or size.
Sensors: There is a limit of 1 light sensitive sensor per robot.
Play field Details:
- Event 1, Closed Loop: The closed loop event has a play field of amoeba-like shape and will be painted on 3' by 5' white paper in flat black spray paint. The shape will not be less than 6" wide at any point. The curves of the shape will not be tighter in radius then those that are present on the "test pad" that came with the RIS (versions 1.5 and 2.0).
- Event 2, Accurate Stop: The accurate stop event has a play field that is very similar to that of a drag race track. There will be a start line and a finish line placed in parallel up to 16' apart. The lines will be made using electrician's tape (black) on 3' wide white paper measuring ~3/4" thick.
- Event 3, Continuous Line: The continuous line event has a Playfield that is drawn on a sheet of paper that is 3' wide and up to 16' long. The line will be ~3/4" thick for it's entire length. The line will connect point A to point B. However it will not necessarily be straight, or solid. The line will have curves, angles, and dashes in it. The curves of the line will not be tighter in radius then those that are present on the "test pad" that came with the RIS (versions 1.5 and 2.0). The angles of the line will not be smaller then 90 degrees. The dashes in the line will not be longer then 2" of white space.
Prohibited Items and Actions: No robot may utilize more than 1 light sensitive sensor.
Allowed Items and Actions:Anything not specifically mentioned within these rules that does not violate any of these rules will be allowed.
Programs: You may download your programs to any slot on the RCX you want. You may utilize a separate program for each event. Use of non LEGO firmware and or programming environments is acceptable.
Closed Loop Rules:
Requirement for a successful
completion: Tracking shape edge for a distance of at least half the distance achieved by the winner of the event.
The robot will be placed on the starting point of the black shape. When the signal is given, the run button will be pressed, and the timer started. The robot will have 2 minutes to complete as many laps around the black shape as possible. The robot's location will be marked when the time runs out and the score will equal the number of whole and partial laps measured to the nearest quarter lap.
For this event it is expected that the robot follow the shape of the black area as closely to the edge between the white and black areas as possible. If it appears that the robot is moving in a preprogrammed path, or intentionally cutting corners, then the run will be deemed invalid.
The winner of this event will be the robot that racks up the most whole and partial laps in the given amount of time.
Accurate Stop Rules:
Requirement for a successful
completion: Finding the finish line in no more then double the time set by the winner of the event.
The robot will be placed on the starting line of the track. When the signal is given, the run button will be pressed and the stop watch started. The clock will stop when the robot has come to a stop on or near the finish line. The accuracy of the stop will be measured from the marker point on the robot to the center point of the finish line, and counted in units of one stud.
For this event it is expected that the robot makes a complete stop when it detects the finish line. If it appears that the robot is adjusting it's position following it's stop, then the run will be deemed invalid.
The winner of this event will be the robot that stops with it's marker point closest to the center point of the finish line. In the event where 2 or more robots have tied in accuracy, then the robot with the fastest time will be the winner.
Continuous Line Rules:
Requirement for a successful
completion: Tracking line for a distance of at least half the distance achieved by the winner of the event.
The robot will be placed on the starting line of the track. When the signal is given, the run button will be pressed and the stop watch started. The robot is to follow the line down the track without venturing off the white paper. The distance traveled will be marked and the clock stopped at the point where the robot has lost the line or left the white paper.
For this event it is expected that the robot follow the line precisely through it's course. If it appears that the robot is simply heading straight down the track for the finish line or cutting corners, the run will be deemed invalid.
The winner of this event will be the robot who travels the furthest distance down the track without losing the line or going off the paper. In the event 2 or more robots have tied in distance, then the robot with the fastest time will be the winner.
Triathlon Rules and Scoring: Each robot will be given 3 runs per event. The run with the best scores (time and distance) will be used for that event.
In event 1 and 3 when a robot has lost the edge or line, the exact point on the edge/line where the robot has gone astray will be marked and there will be an oral count to 10 seconds by the time keeper. If the robot can find the line prior to the count of 10, then the run continues. If the robot fails to find the line by the count of 10, the run ends.
The robot with the highest score total at the end of events will be the triathlon winner. The points will be awarded per the following guidelines:
- 3 points for first place in an event
- 2 points for second place in an event
- 1 point for successfully completing event
Repairs and Reprogramming: During an event no changes in programming or construction of the robot is allowed, though minor repairs or battery replacements are allowed. There will be a maximum of one minute between runs for these repairs. Reprogramming is allowed prior to all events and when the robot is on the sidelines (not actively in an event).
Reprogramming capabilities are not guaranteed to be available at the event venue. Come prepared with your program(s) already downloaded to your RCX. Bring a laptop and your IR-Tower if you anticipate having to reprogram during the event. You never know when the hosts IR-Tower will refuse to work :(
Good luck,
Jona