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Full Speed Ahead - Activity Sheets

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95 views

Full Speed Ahead - Activity Sheets

Uploaded by

api-239713715
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Worksheet: Full Speed Ahead

Introduction to Mobile Robotics > Full Speed Ahead


This worksheet is provided for reference only. Be sure that you follow the steps in the online directions, and answer the questions at the appropriate times. Fill out all your answers on a separate sheet of paper. Construct

Observations:

1) What happened when you ran the program? When we downloaded the program, the robot started to follow our commands. Wed programmed it to rotate. Move forward and stop. We selected each command on the robot and it performed it on the floor. 2) Which motor spun? The motor that spun was Motor C, and Motor B moved forward 3) What direction did the motor spin? The motor spun 720 degrees clockwise 4) Did the motor stop spinning on its own? Yes, Motor C (Spinning) was selfprogrammed to stop, however motor B required new programing in order for it to stop. 5) Is this the desired behaviour yet? Yes, the robot followed our commands and was programmed correctly; it rotated, moved forward and stopped upon command. Construct: Run Second Motor

6. Why is the second motor command needed? The second motor command is needed because motor C is only programmed to rotate therefore, motor B is needed to make the robot run forward. Without the second program, the robot would only have the ability to rotate.

Construct: Stop the Robot

7. Why did the robot not stop at the right place before? Before we programmed it to stop completely, the robot only stopped gradually, and moved forward a bit further. However after we programmed it, the robot came to a complete halt on command and stayed in its desired spot.

8. Which of the following determines the order in which blocks are run in the program? Highlight one.

a. The order the blocks are placed on the workspace, regardless of where they are placed. The one you drop first runs first, etc. b. The order of blocks on the white Sequence beam. The program starts at the small NXT symbol, and follows the blocks in the order they are reached along the white beam. c. There is an order of operations of blocks. The software will always make Motor command blocks run first, and then wait for blocks, then Motor stop blocks. 9. Write a brief one or two sentence explanation of what each block does in the program you wrote (also shown below).

First block: The first block, plugged in to port c, commanded the robot to move forward a certain distance. It later corresponds with the third block. Second block: The second block, plugged into port b, simply commanded the robot to move forward. It later corresponds with the fifth block. Third block: The third block, plugged in to port c, corresponds with the first block; they work together to make the robot rotate 720 degrees clockwise. Fourth block: The fourth block, plugged in to port c, commands the rotation to come to a halt. It works with the first and third blocks. Fifth block: The fifth block, plugged into port b, simply commands run forward to come to a halt. It works with the second block.

10. Look at your program. I. Which icon or icons in the program controlled how far the robot went before stopping? The first and second blocks commanded the robot to go forward, however didnt have a certain distance or time frame. The fourth and fifth blocks commanded the robot to stop. These all had gears on them (motor symbols).

II.

Explain how you could change the program to make the robot go a longer or shorter distance. To make the robot go a longer or shorter distance, you can simply change the degrees panel at the bottom left corner of the screen. You increase the degrees to make it move a longer distance, and decrease the degrees to make it go a shorter distance.

11. Describe the robots new movement pattern if you moved the motor plug from Port B to Port A, but did not change the program. How would you then need to change the program to make the robot go forward again? In order to have the robot correspond with its correct ports, we must change the blocks below to the right port. For example, if a block is plugged into port B, you must change it to port A in order for it to work.

12. How far will the program shown below make the robot run? Look carefully, this is trickier than it seems!

Continue: Full Speed Reverse

Answer the following:

13. What program blocks are different between the moving forward and moving backward behaviours? In order to make the blocks move backwards, we had to select the downward arrow instead of the upwards arrow. This made our robot reverse. The difference between the 2 options is basically the arrows they command the robots direction/movement.

Continue: There and Back (part 1)

Observations:

14. Did your robot perform both actions as expected? If not, what did it do instead? Yes, the robot performed both actions as we programmed it to.

Continue: There and Back (part 2)

Answer the following:

15. Why did the rotation sensor need to be reset? The rotation sensor had to be reset so that the robot could start a new performance after it had rotated 720 degrees. 16. When do you need to do this in future programs? If you are creating a program that has 2 different actions it in, (e.g. Run Return), in order for both actions to be performed separately, the sensor needs to be reset.

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