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The color camera and some vision processing algorithms were used to find a variaty of things in the course, including the red soda can, the orange golfballs, and the bright white lights. The golf balls were lined up off center to be picked up while the can was in the gripper.



The can gripper is a simple clamp scavenged from the robot junkyard. It is driven by a single servo with the two sides connected via gears. It does not lift the can off the ground.



The golf ball collector is mounted underneath the robot and is capable of holding 10 balls. It is a passive device that uses one-way flaps to allow the golf balls to enter but not leave.



The articulated beam breaker swings out allowing the robot to pass farther from the IR beams and still break them. The advantage this device gives is a decreased run time due to the elimination of fine movements in the corner nesassary to break the beam. The beam breaker swings from side to side during the run to avoid hitting the course.