Tutorials/Arduino Projects/Mobile Robotics/BoeBot/Navigating Simple Maze - Revision history

Jwatson: /* Programming */

2012-10-15T14:03:50Z

Programming

Jwatson: /* Distance Traveled vs Time */

2012-10-15T13:27:50Z

Distance Traveled vs Time

Jwatson: /* Distance Traveled vs Time */

2012-10-15T13:27:25Z

Distance Traveled vs Time

Dwest at 13:50, 29 June 2012

2012-06-29T13:50:52Z

Pgp90: /* Result */

2012-06-22T19:21:52Z

Result

Pgp90: /* Putting the Behaviors together */

2012-06-22T18:00:59Z

Putting the Behaviors together

Pgp90 at 16:45, 21 June 2012

2012-06-21T16:45:50Z

Pgp90 at 19:46, 19 June 2012

2012-06-19T19:46:25Z

Pgp90: /* Turning Left */

2012-06-19T19:00:23Z

Turning Left

Pgp90: /* Distance Traveled vs Time */

2012-06-19T18:23:57Z

Distance Traveled vs Time

@@ Line 83: / Line 83: @@
 <blockquote>
 ==== Driving Forward ====
-One of the behaviors is to drive forward at speed 15 for some amount of time. So let's define a function that will set both motors to speed 15 and pause code execution for a passed time parameter. It is possible to make the function receive the desired distance and calculate the time based on the time/distance ratio calculated earlier, but by using time, fine tuning is much easier.
+One of the behaviors is to drive forward at 15 power for calculated amount of time. First, let's define a function that will set both motors to 15 power and pause code execution for a time value that is passed into it. It is possible to make the function receive the desired distance and calculate the time based on the time/distance ratio calculated earlier, but passing just the time parameter makes fine-tuning the code much easier.
 {|
 |-
 |<syntaxhighlight lang="ROBOTC">
-// drive forward at speed 15 for the passed time in milliseconds
+// drive forward at speed 15 for the passed time (in milliseconds)
 void DriveForward(int time)
+{
@@ Line 104: / Line 104: @@
 |-
 |<syntaxhighlight lang="ROBOTC">
-//make a 90 degree pivot turn to the left at speed 15
+//Make a 90 degree pivot turn to the left at 15 power
 void TurnLeft()
+{
    motor[leftServo] = -15;
    motor[rightServo] = 15;
-   wait1Msec(470);  //you will probably need to adjust time for your robot
+   wait1Msec(470);  //You will probably need to adjust time for your robot
 }</syntaxhighlight>
 |-
@@ Line 120: / Line 120: @@
 |-
 |<syntaxhighlight lang="ROBOTC">
-//make a 90 degree pivot turn to the right at speed 15
+//Make a 90 degree pivot turn to the right at 15 power
 void TurnRight()
+{
    motor[leftServo] = 15;
    motor[rightServo] = -15;
-   wait1Msec(460);  //you will probably need to adjust time for your robot
+   wait1Msec(460);  //You will probably need to adjust time for your robot
 }</syntaxhighlight>
 |-

@@ Line 48: / Line 48: @@
 If you take the average distance traveled and divide by the time (5 seconds) and you will get the distance per second. This can be useful if you know how long your have been traveling, however we want to find how long we need to travel to go some distance. To find this relationship, we take the time (5 seconds) and divide it by the number of inches traveled.
-Now that we have this ratio, we can take some distance, say 9 inches, and calculate the time needed to travel that distance by multiplying the desired distance by the ratio.
+Now that we have this ratio, we can take some distance and calculate the time needed to travel that distance by multiplying the desired distance by the ratio.
 === Adjusting Turning Time ===

@@ Line 18: / Line 18: @@
 === Distance Traveled vs Time ===
-Since we are looking for the seconds per inch, we are just looking for the inverse of inches per second. In either case to find the relationship, you need to know the distance traveled and the time to travel of at least one sample to calculate the relationship. Since we already know that we can control the time that the robot will run for, it is a very simple matter to just program it to drive for 5 seconds, then just measure the distance traveled. You can either write your own program to drive straight forward at speed 15 for 5 seconds or you can use the following code.
+Since we are looking for the seconds per inch, we are just looking for the inverse of inches per second. In either case, to find the relationship you need to know the distance traveled and the time of travel for at least one sample run. Since we already know that we can control the time that the robot will run for, it is a simple matter to program it to drive for 5 seconds and measure the distance traveled. You can either write your own program to drive straight forward (at 15 power for 5 seconds) or you can use the code below:
-−
 {|
 |-
@@ Line 43: / Line 42: @@
 |}
-Now download the program to the robot and set it up so that the point where the wheel touches the driving surface is next to a yard/meter stick. now just turn it on, wait for the robot to stop and record the distance traveled. We recommend that you do this 2 more times to get an average value.
+Download the program to the robot and set it up so that the point where the wheel touches the driving surface is next to a yard/meter stick. Turn the robot on, wait for the it to complete its movements, and record the distance traveled. We recommend that you do this two more times to get an average value.
 [[image:BoeBot_Speed_Calculation_Setup.jpg|thumb|c|center|400px|setup to measure the distance traveled]]

@@ Line 2: / Line 2: @@
 <yambe:breadcrumb self="Navigating a simple maze">Tutorials/Arduino_Projects/Mobile_Robotics/BoeBot|Parallax BoeBot + Arduino Shield, Mobile Robotics Platform</yambe:breadcrumb>
 {{tl|1|}}
 == Objective ==
 Now that we have a grasp of how to make the robot move, we can use that understanding to complete a task. For this section we are going to make the robot navigate a very simple maze. We will be telling the robot exactly where to go, so there is no need to worry about how it will detect the course.
@@ Line 204: / Line 207: @@
 |-
 |}

← Older revision		Revision as of 19:21, 22 June 2012
Line 208:		Line 208:
	If you followed the instructions, running the program on the robot should make it navigate the maze		If you followed the instructions, running the program on the robot should make it navigate the maze

−	{{tut-video\|\|~~Video of~~ Parallax BoeBot + Arduino navigating a simple maze}}	+	{{tut-video\|cDPHjVOzt-M\|Parallax BoeBot + Arduino navigating a simple maze}}

← Older revision		Revision as of 18:00, 22 June 2012
Line 204:		Line 204:
	\|-		\|-
	\|}		\|}
		+
		+	== Result ==
		+	If you followed the instructions, running the program on the robot should make it navigate the maze
		+
		+	{{tut-video\|\|Video of Parallax BoeBot + Arduino navigating a simple maze}}

@@ Line 1: / Line 1: @@
 {{DISPLAYTITLE:Navigating a simple maze}}
-<yambe:breadcrumb>Arduino_Projects|Arduino Tutorials and Guided Projects</yambe:breadcrumb>
+<yambe:breadcrumb self="Navigating a simple maze">Arduino_Projects|Arduino Tutorials and Guided Projects</yambe:breadcrumb>
 {{tl|1|}}
 == Objective ==

@@ Line 97: / Line 97: @@
 ==== Turning Left ====
-Now that we can go straight, we will eventual need to turn. Conveniently, every turn is a 90° point turn to the right or left. Let's start with the left turn. Take the time you got for your left turn and place it in the wait1Msec() command.
+Now that we can go straight, we will eventually need to turn. Conveniently, every turn is a 90° point turn to the right or left. Let's start with the left turn. Take the time you got for your left turn and place it in the wait1Msec() command.
 {|