AUTONOMOUS STAGE PIPELINE // 5-STATE DETERMINISTIC FINITE AUTOMATON

● ACTIVE STEP 02/12 · PHASE 1

[STATE_01]d > 5.0 cm

SEARCH & APPROACH

[STATE_02]d ≤ 5.0 cm

PICK

PICK OBJECT

[STATE_03]Gripper Locked

CARRY

CARRY & AVOID

[STATE_04]Target Reached

PLACE

PLACE AT TARGET

[STATE_05]Payload Released

DONE

MISSION COMPLETE

STEP 02 // DRIVE TO PICK ZONESCANNING CORRIDOR // DRIVING TO PICK ZONE

310 mA · 7.25 V

3D DIGITAL TWIN STAGE // RM-01 ROVER

NOSE_CAM // POV● LIVE

ARENA:

WIRING FAULT INJECTOR:

HC-SR04 // TIME-OF-FLIGHT OSCILLOSCOPEd = 32 cm

ECHO TIME (t)

1856 µs

FORMULA

t ÷ 58

DISTANCE (d)

32 cm

L298N // H-BRIDGE SWITCH MATRIX310mA · 7.25V

LEFT: 1/0

FWD

RIGHT: 1/0

FWD

D9: 90° (1.5ms)

1d = readDistanceCm(); // HC-SR04: d = echo_us / 58.0

2if (state == SEARCH) {

3 if (d > 5.0) forward(); // Approach cylinder in Pick Zone

4 else { stopMotors(); state = PICK; }

5} else if (state == PICK) {

6 gripper.write(30); delay(1000); state = CARRY;

7} else if (state == CARRY) {

8 if (d <= 20.0) { stopMotors(); turn(); } // Avoid obstacle

9 else if (!atTarget()) forward();

10 else { stopMotors(); state = PLACE; }

11} else if (state == PLACE) {

12 gripper.write(90); delay(1000); state = DONE;

13} else stopMotors(); // Autonomous cycle complete

BLACKBOX TELEMETRY RECORDER // 120-SAMPLE ROLLING STRIP CHART■ SONAR d(cm)■ MOTOR I(mA)■ BATTERY V(volts)

SYNCHRONIZED 12-STEP EXECUTION LOGPHASE 1: SEARCH & PICK [01–06] · PHASE 2: CARRY & PLACE [07–12]

STEP 01SEARCH

SYSTEM BOOT & INIT

Arduino UNO boots, configures GPIO directions, attaches D9 servo to 90° open, and zeroes motor PWM.

STEP 02SEARCH

DRIVE TO PICK ZONE

Arduino sets IN1=1, IN2=0, IN3=1, IN4=0 with PWM=170 so both wheel pairs propel the chassis forward.

STEP 03SEARCH

ULTRASONIC OBJECT LOCK

40 kHz 8-pulse burst reflects off the hollow cylinder; Echo pulse width t (µs) ÷ 58 locates the object.

STEP 04SEARCH

PRECISION CREEP APPROACH

Duty cycle throttles down to creep speed (PWM=115) until cylinder sits ≤ 5 cm centered between open jaws.

STEP 05PICK

ACTUATE SERVO GRIPPER

Motors brake; Pin D9 shifts 50 Hz pulse width from 1.50 ms (90°) to 1.17 ms (30°), squeezing rubber pads.

STEP 06PICK

PAYLOAD LOCK & TRANSITION

1000 ms stabilization dwell confirms servo closed-loop torque lock; FSM transitions from PICK to CARRY.

STEP 07CARRY

CONTINUOUS OBSTACLE SCAN

While transporting payload, any echo returning with d ≤ 20 cm (t ≤ 1160 µs) triggers an obstacle interrupt.

STEP 08CARRY

DIFFERENTIAL SPIN BYPASS

Left wheel drives forward (IN1=1, IN2=0) while right wheel reverses (IN3=0, IN4=1) to pivot clear of obstacle.

STEP 09CARRY

TRAVERSE TO TARGET ZONE

Once ultrasonic line-of-sight reads > 20 cm clear, chassis rejoins trajectory toward designated drop zone.

STEP 10PLACE

OPEN GRIPPER JAWS

Upon reaching target coordinates, robot halts and commands gripper.write(90) (1.5 ms pulse) to open jaws.

STEP 11PLACE

DEPOSIT & CLEARANCE BACKUP

Hollow cylinder rests stably on target pad; robot reverses briefly so open jaws clear the payload.

STEP 12DONE

AUTONOMOUS CYCLE HALT

All H-Bridge enable lines drop LOW (0V), servo remains at 90°, and FSM enters terminal DONE state.