Chassis

The chassis of the robot contains and organizes the other components of the robot. It was constructed out of laserCAM cut masonite. The tabs on the edges of the panels keep all the panels in place and support the sides of the chassis. The front panel of the chassis features openings for the ball dispenser, front contact switch, and beacon detector. The side walls have holes for the ball bearings used to support the wheel axels. The bottom has openings for the tape sensors and casters. The back panel has slots for supporting the removable tier. The removable tier organizes the contents of the robot. Since the tier is removable, parts that were stored in the lower compartment could still be easily accessed after assembly.

Tape sensors for line following were mounted through holes on the bottom of the chassis. A total of three tape sensors were used, two in the front of the robot and one in the center. The center sensor was
primarily used to find lines. Once the robot spotted a line on the center sensor, it turned in place until the front sensors straddled the line. The front sensors were also used in line following and detecting
the end of the line. All sensors were calibrated to see both green and black tape.

The rectangular hole in the front of the chassis was for mounting a contact switch. This switch detected when the robot was close enough to Goal 3 to drop balls into it.

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