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    Configuring Robot Movement

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    Jl

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    Configuring Robot Movement

    Uploaded by

    Jl
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    Download as pptx, pdf, or txt
    23 views12 pages

    Configuring Robot Movement

    Uploaded by

    Jl

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    You are on page 1of 12

    PRIME LESSONS

    By the Makers of EV3Lessons

    CONFIGURING ROBOT MOVEMENT


    BY SANJAY AND ARVIND SESHAN
    LESSON OBJECTIVES
     Learn to configure robot movement on a SPIKE Prime or Robot Inventor robot
     Note: Although images in this lesson show a SPIKE Prime, the code blocks are the same for
    Robot Inventor
     Learn how to add you first programming blocks to the programming canvas

    Copyright © 2020 Prime Lessons (primelessons.org) CC-BY-NC-SA. (Last edit: 1/9/2020)


    2
    WHY CONFIGURE YOUR CODE?
     Every robot is different
     Before you can program to move or turn, you need to first set how you have configured
    your robot:
     What ports are the drive motors connected to?
     What type of wheels are you using?
     What fast do you want to move?
     Do you want to stop immediately at the end of a move?

     This information needs to be in every program you write

    Copyright © 2020 Prime Lessons (primelessons.org) CC-BY-NC-SA. (Last edit: 1/9/2020)


    3
    WHAT IS CONNECTED TO EACH PORT?

    Droid Bot IV ADB

    Droid Bot IV Configuration


    ADB Default settings
    Drive
    Motor Drive
    Motor

    Drive Drive
    Motor Motor

    Copyright © 2020 Prime Lessons (primelessons.org) CC-BY-NC-SA. (Last edit: 1/9/2020)


    4
    CONFIGURING MOVEMENT BLOCKS
     Before using movement blocks, you must configure the robot
    Left A
    first.
     There are three blocks for this purpose:

    Right E
    Determines which motors are connected to the left &
    right wheels (change the settings for your robot).
    Whenever blocks have 2 inputs for wheels – the first
    one is for the left wheel and second is for right.

    Sets the “default” speed for move blocks you may


    use later in the program
    Determines what the robot does at the end of a move
    block (brake, hold position, or float). To access this
    block you will need to add “More Movement
    Blocks” from block extensions

    Copyright © 2020 Prime Lessons (primelessons.org) CC-BY-NC-SA. (Last edit: 1/9/2020)


    5
    STOP MODES: BRAKE VS. HOLD VS. FLOAT
     Break – after move, bring motors to a hard stop
     Hold position – after move, bring motor to a hard stop and use motor power to counter
    any further movement until the motor is used again. You will not be able to move the
    motor by hand.
     Float – after move, allow motors to move due to momentum
     In general, we will use hold or brake in most of our programs.

    Copyright © 2020 Prime Lessons (primelessons.org) CC-BY-NC-SA. (Last edit: 1/9/2020)


    6
    HOW TO ADD A PROGRAMMING BLOCK

    STEP 1: Click and hold


    Set Speed block and drag
    to programming area

    STEP 2: Drop next to the Start Block


    (green arrow) (See animation)
    Copyright © 2020 Prime Lessons (primelessons.org) CC-BY-NC-SA. (Last edit: 1/9/2020)
    7
    WHEEL SIZE AND MOVEMENT CONFIGURATION
     The default option for the move block is to
    move for a specified distance in CM
     However, prior to using this mode, you have to
    tell the program the number of cm per rotation
    travelled
     You will need to calculate this value as it
    depends on what wheel you use. The next two
    slides explain different ways to calculate this
    value.
     Note that you can use inches instead of
    centimeters if you prefer

    Copyright © 2020 Prime Lessons (primelessons.org) CC-BY-NC-SA. (Last edit: 1/9/2020)


    8
    HOW MANY CM DOES THE ROBOT MOVE IN 1 ROTATION?
    (METHOD 1)
    1. Look up the wheel size in mm printed on your tire Helpful chart with common LEGO
    wheels and their diameters.
    and divide by 10 to convert to cm (because
    1cm=10mm) http://wheels.sariel.pl/

    2. Multiply the answer in step 1 by π (3.14) to compute


    circumference
    3. Use the value to set the motor rotation block
     Example calculation using the standard small SPIKE
    Prime wheels (used in Droid Bot IV):
    1. Small SPIKE Prime Wheels = 5.6cm in diameter
    2. 5.6cm × π = 17.5cm per rotation
     Example calculation using the standard large SPIKE
    Prime set wheels (used in ADB):
    1. Large SPIKE Prime Wheels = 8.8 cm in diameter
    2. 8.8 cm × π = 27.6 cm per rotation

    Copyright © 2020 Prime Lessons (primelessons.org) CC-BY-NC-SA. (Last edit: 1/9/2020)


    9
    HOW MANY CM DOES THE ROBOT MOVE IN 1 ROTATION?
    (METHOD 2)
    Use the Dashboard to view sensor data to find the Motor Degrees value
    1. Put your ruler next to your wheel/robot at 0 centimeters (whatever part of the robot you use to align
    with 0, you should use to use to measure distance in step 2)
    2. Roll your robot forward until the motor encoder reading (in the SPIKE software) reaches 1 rotation, or
    360 degrees. Once you learn to program movement, you can program the robot to move 1 rotation
    forward.
    3. Read the number of CM the robot moved along the ruler
    4. Use the values to configure your robot’s movement

    Copyright © 2020 Prime Lessons (primelessons.org) CC-BY-NC-SA. (Last edit: 1/9/2020)


    10
    PUTTING IT TOGETHER
     For Droid Bot IV, smaller wheels are used. One rotation only moves 17.5cm. The default is
    speed is, therefore, also set higher.
     For ADB, the larger wheels are used. One rotation moves 27.6cm. The default speed is lower
    for additional control.

    Droid Bot IV ADB

    Copyright © 2020 Prime Lessons (primelessons.org) CC-BY-NC-SA. (Last edit: 1/9/2020)


    11
    CREDITS

     This lesson was created by Sanjay Seshan and Arvind Seshan for Prime Lessons
     More lessons are available at www.primelessons.org

                             
    This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
    Copyright © 2020 Prime Lessons (primelessons.org) CC-BY-NC-SA. (Last edit: 1/9/2020)
    12

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