The forklift has two radial motors, allowing it to move itself around the arena. It also has 2 grabber motors, wired so they move together. Each motor has an encoder (position sensor) that can tell you either the position of the motor along its track, or its angle relative to the start.
The forklift robot also has multiple Ultrasound sensors, a touch sensor, and a radio, see below for details.
The layout of the motors attached to the motor boards for the forklift robot are as follows:
The layout of the Encoders are as follows:
Hint: the radius of a forklift wheel is 5cm.
In addition to other sensors, the forklift also has a microswitch touch sensor at the rear. This is used to detect if the forklift’s rear is touching another object (a container, another robot, or a wall). The touch sensor is connected to pin
2 of the Arduino.
The forklift has many ultrasound sensors attached to various points in the robot, here is the layout of the ultrasound sensors:
AnaloguePin.A0: Front Left
AnaloguePin.A1: Front Right
The forklift robot has a radio receiver attached to its centre.