10 practices with 10 practices with RobolabRobolab

Presentation adapted from one by Víctor Gallego Le Forlot (IES Jovellanos, Fuenlabrada)

IndexIndex• 1. Patrol• 2. Square• 3. Spiral• 4. Avoid Objects• 5. On the edge of the aby

ss• 6. Go back to the base• 7. Follow the line• 8. Follow the light• 9. Catch the can• 10. Parking

1.Patrol1.Patrol

• Goal: make the robot go forwards 40 cm, spin around 180º and repeat everything in a loop

• What do I need to know?

1. Patrol1. Patrol

• You need to calculate how much time the rover needs to move forward 40 cm and spin around 180º. These times depend on many factors and they are different in each rover and surface.

• Once the rover has done a lap, everything is always repeated, using a loop.

• Since there is not feedback from any sensor, it is an open loop control. Because of this, errors are not corrected.

2. Square2. Square

• Goal: make the robot move following a 60 cm-side square

• What do I need to know?

2. Square2. Square

• You need to calculate how much time the rover needs to move forward 40 cm and spin around 90º. These times depend on many factors and they are different in each rover and surface.

• It is an open loop control, since there is not feedback from any sensor, so errors are not corrected and the program must be corrected every time the environment changes

3. Spiral3. Spiral

• Goal: make the robot move following a 50 cm-side square, but every time it finishes a lap, the side of the square must be increased in 10 cm

• What do I need to know?

3. Spiral3. Spiral

• You need to use a variable in which you will save the time that the robot must go forward in each lap.

• That variable must be increased every time a lap is completed.

• Open loop control.

4. Avoid objects4. Avoid objects

• Goal: make the rover go forwards until it hits an object, then avoid it and continue going forwards.

• What do I need to know?

4. Avoid objects4. Avoid objects

• When the contact sensor hits an object, make it go backwards for a short space, turn right, go forward for a short period and turn left until it gets back to the initial path.

• Alternate turns to right and left to avoid the rover to divert from its path.

• Closed loop control (with feedback).

5. Close to the edge5. Close to the edge

• Goal: make the rover move on the table and when it reaches the edge, make it go backwards and change direction to avoid falling

• What do I need to know?

5. Close to the edge5. Close to the edge

• Make the rover go forwards until the light sensor detects an important change because it reached the edge. Then, make it go backwards for a short period and turn to change the direction before it continues going forwards.

• Alternate turns to right and left to avoid the rover to always follow the same paths

• Radomize the time it turns so the rover doesn’t follow trhe same paths again and again.

• Closed loop control (feedback).

6. Back to the base6. Back to the base

• Goal: make the rover go forwards until it hits any object, and then go backwards to the starting point

• What do I need to know?

6. Back to the base6. Back to the base

• See how much time it takes the rover to hit something. Make it go backwards for that same amount of time.

• Open loop control, that is why it is not very precise.

7. Follow the line7. Follow the line

• Goal: make the rover follow a black line in the floor

• What do I need to know?

7. Follow the line7. Follow the line

• Measure the light value in each sensor when it enters the black line. If the right sensor finds the black line, make the rover turn left. If the left sensor finds the black line, make the rover turn right. Otherwise it must go forwards.

• There is feedback, so it is a closed loop control.

8. Follow the light8. Follow the light

• Goal: make the rover spin until it finds an intense source of light, and then make it follow that light.

• What do I need to know?

8. Follow the light8. Follow the light

• Define a light threshold above the environmental light and below the light that must be followed. The rover must spin until it finds a value of light above the threshold and go forward when it finds it.

• Closed loop control.

9. Catch the can9. Catch the can

• Goal: make the rover go forward until it hits a can, then it must catch it and go back to base with it.

• What do I need to know?

9. Catch the can9. Catch the can

• Make the rover go forward until a contact sensor detects the hit with the can. It must turn the can around and go back, pushing the can to the starting place.

• Closed loop control.