The need for the DS-GPM was not realized until midway through Spring Semester.  Although the module was immediately ordered as overnight shipping, it was later found out that the DS-GPM was on backorder.  The actual module did not arrive until 2 weeks before the end of the project.  Although the programs were written in preparation before the module came, the GPM did not work correctly as detailed in Section 5.4.  The manufacturer’s suggestion of returning the module to the distributor for replacement was no longer a viable option due to the backorder status of the module and time constraints of the project.

    Once the issues plaguing the module are resolved, the speed and position of the mower can be used for compensation in a final path planning appropriate for the autonomous lawnmower competition.

    The electrical and software constituted 50% of the project while the other 50% was mechanical.  The time spent resolving faulty electronics and writing programs, however, took up approximately 85% of the time spent on the project.  In light of the overwhelming electrical side of such the project, future teams should ideally contain at least two electrical or computer software students that have a working knowledge of microcontrollers and programming in the Basic language.

    In turn, our team was successful in completely eliminating the vibration problems that Team 2005 was dealing with.  This was done by removing the metal blade, thus significantly reducing the rotating mass.  By replacing the metal blade with plastic string trimmers, the cutting area was maximized and the vibration problem eliminated. 

    This project will be a good starting point for a future group to continue.  Team 2006 took over Team 2005’s attempt at the autonomous lawnmower idea. Team 2006 solved some of their issues, and would provide a future design team a great chance for success.  Though the GPS was not integrated, the encoders were used to guide the mower in a straight line.  The GPS however was installed and knowledgeable programs were written, but the manufacturer advised that the part was not functioning correctly.  The lawnmower is weather resistant, with the electronics sufficiently shielded to prevent damage.  These accomplishments make Team 2006’s lawnmower safe enough to qualify for the ION Lawnmower Competition.