Chameleon DAGU Mr Basic Kit

I was hoping to finish this robot in time for the Mr Basic DAGU II competition, but I doubt I will have it done in the next 24 hours. Here is what I have so far!

• Eventually it will drive until one of the whiskers hits something.
• Then it will stop and try to determine what color the object is that it hit. The color detector shines a red, blue and green light (using a tri-color LED) and measures the amount of light that bounces back.
• It uses those numbers to do software PWM and drive 3 other tri-color LEDs to try to match the color of the object it hit
• After 5-10 seconds it shuts off the LEDs and turns (based upon which whisker was activated) and goes somewhere else until it hits something

I made modules for everything so I don't have to resolder new circuit boards all the time and can build things quicker.

Color Detector- I need to remake it so it looks better and the board is smaller. The clear lump is a tri-color LED.

 Download Circuit

Mr. Basic Kit

PICAXE 40x1 - With a double row of pins soldered on each side. Why 2? I figured if I did a single row I would need to hook something else up on the same pin and wish I had 2.

5volt Regulator with Anode and Cathode Bus - have since removed the switch and added it to the red wire leading into the screw terminal.
The switch on the board was shorted and would fail when it wiggled.

Whisker Sensor

I will work on it some more tomorrow and try to get it done for the competition. I really want that Catepillar kit! Not having to pay for it would be awesome ;)

UPDATE: Added current version of the code. I found myself REALLY wanting to switch to XMOS or Arduino so I could use C. Give me REAL variables and arrays PLEASE! I am also going to bed and declaring defeat against my race to the deadline. If it wasn't for school and working on a robotics project that I get graded on I would have finished this guy. I'll keep plugging away and try to complete it in a couple weeks.

Update: 11-11-09 I had planned to use 3 tri-color LEDs diffeused by a plastic dome or some sort of tissue but the Picaxe 40x1 only has 2 PWM ports. I decided to try to do software PWM (you can see the horrible start to it in the code I posted on 11-10/09). After fiddling with code I have decided to use only 2 Tri-Color LEDs so I can use hardware PWM and make my code cleaner. Eventually I would like to play with software PWM.

UPDATE 11/12/09: With the extended dealine coming to a close I rebuilt my color detector to use pots so I adjusted the values more closely to what I need. However I have everything wired up, but I have a PWM question posted as I haven't used PWM with a PICAXE before. If Iget an answer to my PWM question I may be able to finish within 30-45 minutes. I don't think the color detection and duplication will be spot on, but I think that I can get it close enough to where green = green. It may be a few shades off from the true color, but not bad considerign the color detector costs maybe 2 USD to make.