Snapchat-190751249.mp4Early testing of the concept, where the robot picks a card from the deck, and deals it to a player position.

The error we got at the end of the project, making it so the technicial can`t extract our program. 

The program for the TM12 is made in the interface by the robot, using the TM-flow system. This is a simple graphical flow-chart based programming interface. 


The program consists of:

  • Sub-flows for dealing cards
  • Sub-flows for collecting cards
  • Vision tasks for recognizing if a card is facing up or down
  • Motion for flipping a card using the card flipping ramp


These actions are performed in the appropriate order, based on the state of the game_state variable. This variable is shared with the PLC, and determines what state the game is in. This variable is used in a gateway node, which decides what action to take, based on the value of the game_state variable. 


To determine what positions to include in the game, a boolean variable is used for each of the positions. This determines whether a position will receive a card when the robot is dealing, and whether a card is collected from the position when the robot is collecting the cards. The boolean variables is used in IF blocks in the dealing and collecting sub-flows. 


Since the robot is out of order, and the program can no longer be accessed, it is not possible to retrieve any documentation of the current state of the program. 

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Industrielle styresystemer - NTNU Ålesund - Automasjon