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    For our first programming challenge we had to move our robots exactly ten feet. First we had to figure out how far the robot went in one full rotation of the wheel. The second challenge was to move the robot within a few cm of a wall without touching it.

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    For our first programming challenge we had to move our robots exactly ten feet. First we had to figure out how far the robot went in one full rotation of the wheel. The second challenge was to move the robot within a few cm of a wall without touching it.

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    38 views4 pages

    Programming

    Uploaded by

    api-281393947
    For our first programming challenge we had to move our robots exactly ten feet. First we had to figure out how far the robot went in one full rotation of the wheel. The second challenge was to move the robot within a few cm of a wall without touching it.

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    © All Rights Reserved
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    of 4

    InthepicturebelowisourbasicmotorblockwithinportsBandC.

    Thisblockcontrolsthe
    motorsthatpowerthewheels.TheBandCreferencetheportstowhichthemotorsare
    connected.Themotorblocktellsyouthe
    directioninwhichtheaxisturns,itsduration,
    poweraswellasthemotorsitsconnectedto.

    Thefirstofthethreepicturesbelowisthatof
    themotorattributebar.Thisallowsyouto
    controlthedifferentpartsofyourmotor
    includingdirection,steering,duration,power,
    aswellastheactionthatcomesafter.

    Thesecondpicturebelowistheattributebar
    ofasensor,morespecificallytheultrasonic
    sensor.Thisparticularsensorsendsout
    soundandreceivesitasafteritbouncesoff
    ofanearobject.Itthenusestheinformation
    giventoitbythatreactiontocalculate
    distance.Theultrasonicattributebarallows
    foryoutocontrolthedistanceinwhichit
    wantstherobottorespondaswellasthe
    porttowhichitisconnected.

    Theattributebarrightaboveistheoneusedforthesoundsensor.Thissensorusessoundto
    triggeranaction.Thesensorreceivessoundanddeterminedonthedecimalatwhichitreads
    itmayreact.Theattributebarallowsyourtodecideuponatwhichdecimaltherobotwillreact.

    Forourfirstprogrammingchallengewehadtomoveourrobotsexactlytenfeet.FirstI
    neededtofigureouthowfartherobotwentinonefullrotationofthewheel.SoIfoundthat
    thewheelsdiameterequals2.25inches.Ithenmultipliedthatnumberbypitofigureoutits
    circumferencewhichwasroughly7.06858inches.Ithenfiguredoutthethereare120inches
    intenfeet,soIdivided120bythecircumferenceofthewheel,7.06858,andcameupwith
    16.97,whichIroundedto17.Thisnumbergavemethenumberofrotationsneedtogoten
    feet.SoIsetthenumberofrotationsinmyprogramto17andwassuccessfulinmytaskof
    movingmyrobottenfeet.

    Thesecondchallengewastomovetherobotwithinafewcmofawallwithouttouchingit.
    FirstIhadtofigureoutthedistancebetweenthefrontoftherobotandtheultrasoundsensor,
    whichequalledroughly15cm.Then,Ifiguredouttheaspacingbetweenthebackofthewall
    andthefrontofapvcpipethatwasattached,whichIthoughttobeabout4cm.Ithenadded
    thosetwofigurestogetherandcameupwiththedistancebetweenthesensorandthewall.I
    addedtwomorecmtoatotalof19forcushion,thenplugged21intomyprogram.Isetitso
    thatoncethesensorbecamewithin21cmofthewallitwouldstop.

    ProgrammingchallengeNotes
    MeasureofWheeldiameter2.25inches
    2.25(pi)=7.06858inches(circumference)
    10feet=120inches
    120/7.06858=16.97apIprox.17(rotations)
    distanceofsensorfromfrontofbot=15cm
    distanceofpvcfrombackboardapprox.4cm
    stoppingdistance21cm

    LightSensor:
    Thelightsensorreadslightbysendlightoutthenmeasuringhowmuchlightisreflected
    Onwhitetapethelightsensorrecords72%reflection
    Onagraymatthelightsensormeasured43%reflection
    TheBlocktotheleftisthatoftheLightSensor.Theattributebarbelow
    allowsyoutocontrolwhetherornotthesensorgenerateslightaswell
    asatwhich%ofreflectionitreacts.

    Theprogramtothe
    leftallowedmyrobot
    tomoveforwarduntil
    ithitsthewhitetape.
    Onceitmeasureda
    reflectionabove69it
    stoppedandthen
    shouted.Thesecondprogramtothe
    leftismeanttoallowarobottofollowa
    whiteline.Theproblemwiththis
    programisthatoncetherobotwentoff
    thewhitelinetheBmotorwouldbegin
    togoandtheCmotorwouldcontinue
    aswellmakingtherobotgoina
    straightline.Theprogrambelow
    correctedthatmistake.Thisprogram
    madeitsowhenevertherobotwason
    thewhitelinemotorCwouldstopand
    go,thenonceitwentoffthelinemotor
    Bstoppedandwent.Oncetherobot
    wasbackonthewhitelinemotorC
    wouldgoagain.
    Thisrepeating
    patternallowed
    therobotto
    followawhite
    lineinany
    direction.

    Parallel
    Processing:
    Theactof
    processingtwo
    actionsatone
    time(Parallel
    processingis
    the
    simultaneous
    useofmorethanoneCPUorprocessorcoretoexecutea
    programormultiplecomputationalthreads.)

    Thesensorblocktotheleftisthatofthetouchsensor.

    Thetouchsensorallowstotorobottoprocesswhenitisbeingpressuredinagivendirection.
    Whenthesensoriseitherpressed,releasedorbumpedtherobotwillreact.Theattributebar
    belowallowsyoutodecidewhetherornottherobotwillreactwhenthetouchsensoris
    pressed,releasedorbumped.

    Theseprograms
    totheleftrun
    simultaneously,
    thisallowsfor
    therobotto
    havetwotwo
    sensorsrunning
    atthesame
    time.

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