control/ Electrical system
Optimus Limes’ control system was built on a platform utilizing wi-fi communications and a National Instruments Compact Rio system, Jaguar and Victors (motor speed controllers), Vex Pro spike relays (for the on-board pneumatic compressor), and solenoid relays for the pneumatic devices. Optimus Limes’ software could simultaneously monitor sensors used for tube control, which always kept the tube in our possession, and line tracking, which allowed the robot to plot its route to the tube rack. The software also had such features as preset values for the rack peg heights which allowed the driver to score faster.
The Operator Interface — basically video game controllers — allowed two operators to control the robot at once. One driver controlled the motion of the robot, while the other controlled the tube handler.