Robotics Engineering

1
Robotics Engineering

• Basic Maneuvers

2
Getting the Boe-Bot to Move

• One of the first tasks we need to do is to get
  our bots moving.
• The boe-bot can perform the 4 basic maneuvers
  (front, back, left right) an should be dragging
  the ball behind it when it is moving forward.

3
Moving Forward

• One of the interesting aspects of how the boe-bot
  moves is that it has to turn its wheels in
  opposite directions in order to move forward.
• The left side needs to move counterclockwise and
  the right side needs to move clockwise to move
  forward.

4
Pulsout

• Recall that the PULSOUT command takes a Pin and
  Duration argument to send pulses to the servos.
• Were going to use a FOR..NEXT loops to control
  the number of pulses that are delivered and thus
  controlling how long the servo will run.
• Lets start by taking a look at a program that
  will make the bot roll forward for three seconds.

5
ForwardThreeSec
DEBUG "Program Active!" counter VAR
WORD FREQOUT 4, 2000, 3000 'Signal program
start FOR counter 1 TO 122 'Count of 122 is
approximately 3 seconds PULSOUT 12,650
'Moves the left wheel counterclockwise PULSOUT
13,850 'Moves the right wheel clockwise PAUSE
20 NEXT END
6
More Maneuvers

• You can change how far the bot moves or turns by
  changing the FOR..NEXT loops EndValue arugment.
• You can change the PULSOUT command to cause the
  bot to go backwards, turn left and turn right.
• You can also change the PULSOUT command to make
  the bot go faster and slower.
• You can also make the bot turn by pivoting by
  keeping one wheel still as the other rotates.

7
Your Turn

• Create your own program that has the bot travel
  forward for 3 seconds and save it as
  ForwardThreeSec.bas
• Create a program that makes the bot go forward,
  turn left ¼ turn, right ¼ turn and then backwards
  and save it as FowardLeftRightBackward.bas
• Create a program that does the same as
  FowardLeftRightBackward.bas but uses a pivot
  instead and save it as PivotTest.bas
• Experiment with modifications to these programs
  to make the bot move slower, turn farther, etc.
• Submit your three named files to the Dropbox when
  finished.