ROBOTC Software EV3 Robot Workshop - Robofest - Home · PDF file• Couple comments...
62
ROBOTC Software EV3 Robot Workshop Lawrence Technological University Computer Science Instructor: Assistants:
Transcript of ROBOTC Software EV3 Robot Workshop - Robofest - Home · PDF file• Couple comments...
ROBOTC SoftwareEV3 RobotWorkshop
Lawrence Technological UniversityComputer Science
InstructorAssistants
bull 2017 Robofest competition RoboHit
bull SPbot introduction
bull Using the SPbot to solve the RoboHitchallenge
Course Overview
2
bull Video overview
bull Key tasksndash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball stand
ndash Mathematics to locate the ball standndash Find objectsndash Bat the ballndash Return home
2017 Robofest Competition
3
bull Please note that the actual batting of the ball is beyond the scope of this workshop
2017 Robofest Competition
4
LEGO EV3 robot used ndash SPbot
Color Sensor 1
EV3 Computer
Left Motor B
Right Motor C
Touch Sensor
Sonar Sensor
Color Sensor 2
bull Left Motor connects to Bbull Right Motor connects to C
ndash If your motors are upside down forward will be backwards in your program
bull Color sensor 1 connects to port no 1bull Color sensor 2 connects to port no 2bull Touch sensor connects to port no 3bull Ultrasonic sensor connects to port no 4
Remember the connections
6
Brick Overview
bull ROBOTC Version 455 bull Build Date Aug 25 2016
bull PowerPoint and all example programs are available at robofestnet under Tech Resources
ROBOTC Versions Used
8
bull Opening the source codes files for the workshop will assist in setting up the ROBOTC environment
bull Once the source files are loaded the EV3 motors and sensors should be assigned
Setting Up The ROBOTC Environment
bull The first time you use an EV3 robot with ROBOTC you need to download the ROBOTC kernelndash Robot -gt Download EV3 Linux Kernel -gt Standard
Kernel
Setting Up The ROBOTC Environment
Setting Up The ROBOTC EnvironmentUnder Robot Menu
Compiler Targetbull Physical Robot
Platform Typebull LEGO Mindstroms EV3bull Uncheck Natural Language
Motors and Sensor Setupbull Reviewed on the next slide
Firmware Download
11
bull Select Custom Configuration
Motors and Sensors Setup
12
bull Set left and right motors
Motors and Sensors Setup
13
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull 2017 Robofest competition RoboHit
bull SPbot introduction
bull Using the SPbot to solve the RoboHitchallenge
Course Overview
2
bull Video overview
bull Key tasksndash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball stand
ndash Mathematics to locate the ball standndash Find objectsndash Bat the ballndash Return home
2017 Robofest Competition
3
bull Please note that the actual batting of the ball is beyond the scope of this workshop
2017 Robofest Competition
4
LEGO EV3 robot used ndash SPbot
Color Sensor 1
EV3 Computer
Left Motor B
Right Motor C
Touch Sensor
Sonar Sensor
Color Sensor 2
bull Left Motor connects to Bbull Right Motor connects to C
ndash If your motors are upside down forward will be backwards in your program
bull Color sensor 1 connects to port no 1bull Color sensor 2 connects to port no 2bull Touch sensor connects to port no 3bull Ultrasonic sensor connects to port no 4
Remember the connections
6
Brick Overview
bull ROBOTC Version 455 bull Build Date Aug 25 2016
bull PowerPoint and all example programs are available at robofestnet under Tech Resources
ROBOTC Versions Used
8
bull Opening the source codes files for the workshop will assist in setting up the ROBOTC environment
bull Once the source files are loaded the EV3 motors and sensors should be assigned
Setting Up The ROBOTC Environment
bull The first time you use an EV3 robot with ROBOTC you need to download the ROBOTC kernelndash Robot -gt Download EV3 Linux Kernel -gt Standard
Kernel
Setting Up The ROBOTC Environment
Setting Up The ROBOTC EnvironmentUnder Robot Menu
Compiler Targetbull Physical Robot
Platform Typebull LEGO Mindstroms EV3bull Uncheck Natural Language
Motors and Sensor Setupbull Reviewed on the next slide
Firmware Download
11
bull Select Custom Configuration
Motors and Sensors Setup
12
bull Set left and right motors
Motors and Sensors Setup
13
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Video overview
bull Key tasksndash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball stand
ndash Mathematics to locate the ball standndash Find objectsndash Bat the ballndash Return home
2017 Robofest Competition
3
bull Please note that the actual batting of the ball is beyond the scope of this workshop
2017 Robofest Competition
4
LEGO EV3 robot used ndash SPbot
Color Sensor 1
EV3 Computer
Left Motor B
Right Motor C
Touch Sensor
Sonar Sensor
Color Sensor 2
bull Left Motor connects to Bbull Right Motor connects to C
ndash If your motors are upside down forward will be backwards in your program
bull Color sensor 1 connects to port no 1bull Color sensor 2 connects to port no 2bull Touch sensor connects to port no 3bull Ultrasonic sensor connects to port no 4
Remember the connections
6
Brick Overview
bull ROBOTC Version 455 bull Build Date Aug 25 2016
bull PowerPoint and all example programs are available at robofestnet under Tech Resources
ROBOTC Versions Used
8
bull Opening the source codes files for the workshop will assist in setting up the ROBOTC environment
bull Once the source files are loaded the EV3 motors and sensors should be assigned
Setting Up The ROBOTC Environment
bull The first time you use an EV3 robot with ROBOTC you need to download the ROBOTC kernelndash Robot -gt Download EV3 Linux Kernel -gt Standard
Kernel
Setting Up The ROBOTC Environment
Setting Up The ROBOTC EnvironmentUnder Robot Menu
Compiler Targetbull Physical Robot
Platform Typebull LEGO Mindstroms EV3bull Uncheck Natural Language
Motors and Sensor Setupbull Reviewed on the next slide
Firmware Download
11
bull Select Custom Configuration
Motors and Sensors Setup
12
bull Set left and right motors
Motors and Sensors Setup
13
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Please note that the actual batting of the ball is beyond the scope of this workshop
2017 Robofest Competition
4
LEGO EV3 robot used ndash SPbot
Color Sensor 1
EV3 Computer
Left Motor B
Right Motor C
Touch Sensor
Sonar Sensor
Color Sensor 2
bull Left Motor connects to Bbull Right Motor connects to C
ndash If your motors are upside down forward will be backwards in your program
bull Color sensor 1 connects to port no 1bull Color sensor 2 connects to port no 2bull Touch sensor connects to port no 3bull Ultrasonic sensor connects to port no 4
Remember the connections
6
Brick Overview
bull ROBOTC Version 455 bull Build Date Aug 25 2016
bull PowerPoint and all example programs are available at robofestnet under Tech Resources
ROBOTC Versions Used
8
bull Opening the source codes files for the workshop will assist in setting up the ROBOTC environment
bull Once the source files are loaded the EV3 motors and sensors should be assigned
Setting Up The ROBOTC Environment
bull The first time you use an EV3 robot with ROBOTC you need to download the ROBOTC kernelndash Robot -gt Download EV3 Linux Kernel -gt Standard
Kernel
Setting Up The ROBOTC Environment
Setting Up The ROBOTC EnvironmentUnder Robot Menu
Compiler Targetbull Physical Robot
Platform Typebull LEGO Mindstroms EV3bull Uncheck Natural Language
Motors and Sensor Setupbull Reviewed on the next slide
Firmware Download
11
bull Select Custom Configuration
Motors and Sensors Setup
12
bull Set left and right motors
Motors and Sensors Setup
13
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
LEGO EV3 robot used ndash SPbot
Color Sensor 1
EV3 Computer
Left Motor B
Right Motor C
Touch Sensor
Sonar Sensor
Color Sensor 2
bull Left Motor connects to Bbull Right Motor connects to C
ndash If your motors are upside down forward will be backwards in your program
bull Color sensor 1 connects to port no 1bull Color sensor 2 connects to port no 2bull Touch sensor connects to port no 3bull Ultrasonic sensor connects to port no 4
Remember the connections
6
Brick Overview
bull ROBOTC Version 455 bull Build Date Aug 25 2016
bull PowerPoint and all example programs are available at robofestnet under Tech Resources
ROBOTC Versions Used
8
bull Opening the source codes files for the workshop will assist in setting up the ROBOTC environment
bull Once the source files are loaded the EV3 motors and sensors should be assigned
Setting Up The ROBOTC Environment
bull The first time you use an EV3 robot with ROBOTC you need to download the ROBOTC kernelndash Robot -gt Download EV3 Linux Kernel -gt Standard
Kernel
Setting Up The ROBOTC Environment
Setting Up The ROBOTC EnvironmentUnder Robot Menu
Compiler Targetbull Physical Robot
Platform Typebull LEGO Mindstroms EV3bull Uncheck Natural Language
Motors and Sensor Setupbull Reviewed on the next slide
Firmware Download
11
bull Select Custom Configuration
Motors and Sensors Setup
12
bull Set left and right motors
Motors and Sensors Setup
13
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Left Motor connects to Bbull Right Motor connects to C
ndash If your motors are upside down forward will be backwards in your program
bull Color sensor 1 connects to port no 1bull Color sensor 2 connects to port no 2bull Touch sensor connects to port no 3bull Ultrasonic sensor connects to port no 4
Remember the connections
6
Brick Overview
bull ROBOTC Version 455 bull Build Date Aug 25 2016
bull PowerPoint and all example programs are available at robofestnet under Tech Resources
ROBOTC Versions Used
8
bull Opening the source codes files for the workshop will assist in setting up the ROBOTC environment
bull Once the source files are loaded the EV3 motors and sensors should be assigned
Setting Up The ROBOTC Environment
bull The first time you use an EV3 robot with ROBOTC you need to download the ROBOTC kernelndash Robot -gt Download EV3 Linux Kernel -gt Standard
Kernel
Setting Up The ROBOTC Environment
Setting Up The ROBOTC EnvironmentUnder Robot Menu
Compiler Targetbull Physical Robot
Platform Typebull LEGO Mindstroms EV3bull Uncheck Natural Language
Motors and Sensor Setupbull Reviewed on the next slide
Firmware Download
11
bull Select Custom Configuration
Motors and Sensors Setup
12
bull Set left and right motors
Motors and Sensors Setup
13
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Brick Overview
bull ROBOTC Version 455 bull Build Date Aug 25 2016
bull PowerPoint and all example programs are available at robofestnet under Tech Resources
ROBOTC Versions Used
8
bull Opening the source codes files for the workshop will assist in setting up the ROBOTC environment
bull Once the source files are loaded the EV3 motors and sensors should be assigned
Setting Up The ROBOTC Environment
bull The first time you use an EV3 robot with ROBOTC you need to download the ROBOTC kernelndash Robot -gt Download EV3 Linux Kernel -gt Standard
Kernel
Setting Up The ROBOTC Environment
Setting Up The ROBOTC EnvironmentUnder Robot Menu
Compiler Targetbull Physical Robot
Platform Typebull LEGO Mindstroms EV3bull Uncheck Natural Language
Motors and Sensor Setupbull Reviewed on the next slide
Firmware Download
11
bull Select Custom Configuration
Motors and Sensors Setup
12
bull Set left and right motors
Motors and Sensors Setup
13
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull ROBOTC Version 455 bull Build Date Aug 25 2016
bull PowerPoint and all example programs are available at robofestnet under Tech Resources
ROBOTC Versions Used
8
bull Opening the source codes files for the workshop will assist in setting up the ROBOTC environment
bull Once the source files are loaded the EV3 motors and sensors should be assigned
Setting Up The ROBOTC Environment
bull The first time you use an EV3 robot with ROBOTC you need to download the ROBOTC kernelndash Robot -gt Download EV3 Linux Kernel -gt Standard
Kernel
Setting Up The ROBOTC Environment
Setting Up The ROBOTC EnvironmentUnder Robot Menu
Compiler Targetbull Physical Robot
Platform Typebull LEGO Mindstroms EV3bull Uncheck Natural Language
Motors and Sensor Setupbull Reviewed on the next slide
Firmware Download
11
bull Select Custom Configuration
Motors and Sensors Setup
12
bull Set left and right motors
Motors and Sensors Setup
13
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Opening the source codes files for the workshop will assist in setting up the ROBOTC environment
bull Once the source files are loaded the EV3 motors and sensors should be assigned
Setting Up The ROBOTC Environment
bull The first time you use an EV3 robot with ROBOTC you need to download the ROBOTC kernelndash Robot -gt Download EV3 Linux Kernel -gt Standard
Kernel
Setting Up The ROBOTC Environment
Setting Up The ROBOTC EnvironmentUnder Robot Menu
Compiler Targetbull Physical Robot
Platform Typebull LEGO Mindstroms EV3bull Uncheck Natural Language
Motors and Sensor Setupbull Reviewed on the next slide
Firmware Download
11
bull Select Custom Configuration
Motors and Sensors Setup
12
bull Set left and right motors
Motors and Sensors Setup
13
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull The first time you use an EV3 robot with ROBOTC you need to download the ROBOTC kernelndash Robot -gt Download EV3 Linux Kernel -gt Standard
Kernel
Setting Up The ROBOTC Environment
Setting Up The ROBOTC EnvironmentUnder Robot Menu
Compiler Targetbull Physical Robot
Platform Typebull LEGO Mindstroms EV3bull Uncheck Natural Language
Motors and Sensor Setupbull Reviewed on the next slide
Firmware Download
11
bull Select Custom Configuration
Motors and Sensors Setup
12
bull Set left and right motors
Motors and Sensors Setup
13
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Setting Up The ROBOTC EnvironmentUnder Robot Menu
Compiler Targetbull Physical Robot
Platform Typebull LEGO Mindstroms EV3bull Uncheck Natural Language
Motors and Sensor Setupbull Reviewed on the next slide
Firmware Download
11
bull Select Custom Configuration
Motors and Sensors Setup
12
bull Set left and right motors
Motors and Sensors Setup
13
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Select Custom Configuration
Motors and Sensors Setup
12
bull Set left and right motors
Motors and Sensors Setup
13
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Set left and right motors
Motors and Sensors Setup
13
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Set up sensors
Motors and Sensors Setup
14
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Once the motors and sensors at set up ROBOTC will generate code to configure them
bull We will use this code in all programs we write in this course
Code generation
15
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Task 0
Find the playing field
16
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull The robot is required to start a distance (D2)from the playing field
Task 0 Find The Playing Field
(West starting position)
North
17
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Task 0 Example Solution
Program findFieldc YouTube httpsyoutubeu4ApKEUcRuI
Turn on motors forward
Wait until the edge of the field is detected
Stop the robot
18
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull One method of monitor the sensor values is to use the ROBOTC debugger windowndash Download program to your robot
bull This opens the Debugger and Debugger windows
Reading sensors values
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull ROBOTC offers many debugging options
Debugger Windows
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull We can write a program to display the sensor values on the EV3 LCD screen as well
Reading sensors values
Program sensorValuesc21
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Task 1
Follow the playing field edge
22
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Use the zig-zag method to follow the edge of the playing field
bull Edge following is also referred to as line following
bull We need to determine when the robot is on or off the playing field
Follow The Playing Field Edge
23
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Get color sensor values to determine when the robot is on or off the playing field We will use the color sensor in Reflective Light Intensity mode
bull Color Sensor 1 Color Sensor 2ndash On field = ______ (70) On field = ______ (70)ndash Off field = ______ (10) Off field = ______ (10)
Follow The Edge Of The Field or Mat
ColorSensor
Readings
24
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Light sensor settings examplendash Off field = 10ndash On field = 70ndash Median threshold = (10+70)2 = 40
bull Two casesndash Light sensor reading gt 40 On the playing fieldndash Light sensor reading lt 40 Off the playing field
Follow The Edge Of The Field or Mat
25
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Simple Line Following Algorithm
Program LineFollowZZc YouTube httpsyoutubewpSw-wC0oKA
Set the threshold value
Loop forever ndash the robot will not stop
Based on color senor reading determine which direction to travel to line follow
26
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Zig-zag method can cause a bumpy responsebull To improve the response you can use a 3-level
line follower (concept shown below)
How to improve our line following algorithm
Off Table Off TableOn Table On Table
27
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Task 2
Run the bases
28
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull One method to move from one base to another is the use two color sensorsndash Sensor 1 used to follow the edge of the playing fieldndash Sensor 2 used to locate the end of the playing field
Run The Bases
Color sensor 1
Color sensor 2
29
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Couple comments regarding moving around the field
ndash It is possible to achieve this using only one color sensor but it more difficult and potentially less reliable
ndash Remember that only two of the bases have foil tape please keep this under consideration
bull When your robot finds the foil tape which base are you atbull Need to ldquocountrdquo bases without a foil tape indicator
Run The Bases
30
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Letrsquos modify the program to stop when the robot reaches the end of the base line
Run The Bases
Currently the program will line follow until we stop the robot
Letrsquos change the outer loop to stop when the green is reached
31
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Run The Bases
Program lineFollowZZStopc YouTube httpsyoutube_HL-SXSpV9I
Here we modify the while loop conditional statement to use the second color sensor to detect when the edge of the field is reached
Once edge is reached we exit while loop and stop the robot
32
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Task 3
Find the ball stand
33
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull General ideandash Now that we can travel from one base to another
we can align our robot with the ball stand by traveling half way to a base
bull The rules specify that the bottle will be located in the middle of the playing field
ndash The dimensions of the playing field are L and Wndash The distance traveled should be H2 or W2ndash Once the appropriate distance is traveled turn 90
degrees and travel towards the ball stand
Find The Ball Stand
34
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Approachndash Modify LineFollowZZStopev3 to stop at the
location of the ball standndash Spin 90 degreesndash Travel to the ball stand
bull Tools neededndash Line following ndash Measure distance traveledndash Precise turning
Find The Ball Stand
35
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Determine how far the robot travels moving forward for 2 seconds
Measure Distances
Distance
Compute distance traveled by measuring the number of rotations of the wheel
36
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Use the wheel geometry
Measure Distances
PI = 314
Radius
How can use this information
37
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Measure Distances
Program measureDistancec YouTube httpsyoutube6IoyBSrdTmY
Here we reset the a motor encoder
The encoder outputs the rotation of the motor in degrees so we convert the output to rotations
Code added to wait until the touch sensor is pressed to keep the information visible on the robot screen
38
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Proposed methodndash Compute the distance to travel along the edge of
the playing field (H2 or W2)ndash Compute the number of rotations required to
travel that distancendash Follow the edge of the playing fieldndash Stop the robot when the desired number of
rotations is reachedndash Spin 90 degreesndash Travel to the bottle
Find The Ball Stand
39
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Examplendash Assume H = 80 cm
bull H2 = 40 cm
ndash Number of rotationsbull Distance = (Wheel Diameter) x (PI) x ( Rotations)bull Solve for ( Rotations)
Find The Ball StandCompute Distance To Travel
( Rotations) = (Wheel Diameter) x (PI)
Distance
( Rotations) = (55 cm) x (PI)
40 cm= 232 rotations
40
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Here we define some variables
Loop until the desired distance is traveled
Compute the distance traveled
Program lineFollowDistancecYouTube httpsyoutubeJ4wm8yNQISo
Find The Ball StandLine Follow The Proper Distance
41
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Letrsquos have the robot spin 90 degrees CCW
Find The Ball StandSpin 90 Degrees
Robot
Starting Position
Robo
t
Final Position
(East)
42
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull We will use the spin feature to turn the robot bull When the robot spins the wheel path is a
circle centered between the wheelsbull The diameter is the track width of the robot
Find The Ball StandSpin 90 Degrees
Robo
t
43
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull To spin the robot 90 degndash Robot track width = 162 cmndash The circumference of the robotrsquos circular path
bull C = PI D = 314 x 162 cm = 5087 cmndash The circumference of the robotrsquos wheel
bull C = PI D = 314 x 55 cm = 1727 cm
bull 90 degrees is frac14 of the circle The robot travelsndash Distance = frac14 x 5087 cm = 1272 cm
bull How rotations to travel 1272 cmndash Rot = Distance (Wheel Circumference)ndash Rot = 1272 cm 1727 cm = 074 rotations
Find The Ball StandSpin 90 Degrees
44
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Spinning robot examplendash Robot width = 162 cmndash Wheel Diameter = 55 cm
bull Circumference = 1727cm
bull Number of rotations
Find The Ball StandSpin 90 Degrees
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =1272 1198881198881198881198881727 119888119888119888119888
= 074 119903119903119877119877119877119877119903119903119877119877119877119877119877119877119877119877119877119877
119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877119877 =119863119863119877119877119877119877119877119877119903119903119877119877119888119888119877119877 119879119879119903119903119903119903119877119877119877119877119877119877119877119877119879119879
119882119882119882119877119877119877119877119877119877 119862119862119877119877119903119903119888119888119877119877119888119888119862119862119877119877119903119903119877119877119877119877119888119888119877119877
45
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Spin the robot
Find The Ball StandSpin 90 Degrees
Program spin90c YouTube httpsyoutubejDmOSHctRO4
Loop until the desired distance is traveled
46
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Assuming that we need to travel 40 cm to get to the center of the field we modify lineFollowDistancec to travel the same distance in the a straight line
Find The Ball StandTravel To The Ball Stand
Program travelDistancec
Found on Slide 40
47
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Task 4
Find objects
48
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Recall that the trash objects of unknown typendash Examples color cup soft drink can etc
bull The object position is also random but a given distance from the ball stand
ndash Distance from ball stand is D3
bull Here we use the ultrasonic sensor to find objects on the playing fieldbull But the ultrasonic sensor will not be able to differentiate trash objects
from the ball stand
Find objects
Ultrasonic sensor field of vision
Robot
Ball stand
Trash object
Trash object
49
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull If we travel around the playing field we know that the trash objects will be closer to the robot than the ball stand from at least one side of the field
Find objects
Ballstand
TrashObject 1
TrashObject 2 Ro
bot
Robot
Robot50
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Travel from one base to another and stop if we find a trash object
Find objects
Program objectSearchc YouTube httpsyoutuben1ePWZU0Z08
This loop with allow the robot line follow until an object is detected by the ultrasonic sensor
51
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Task 5
Bat the ball
52
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull This task is beyond the scope of this coursebull However
ndash You should be able to position your robot in a proper hitting position using the techniques outlined in this course
ndash To increase your bat speed to hit the farther you may use gears with the EV3 motors
ndash Consider using a large EV3 motor rather then a medium EV3 motor for increased bat speed
Bat the ball
53
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Gearing to increasing bat speed
Bat the ball
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 119863119863119903119903119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119877119877119877119877119877119877119882
119863119863119903119903119877119877119877119877119877119877119877119877 119866119866119877119877119903119903119903119903 119879119879119882119877119877119877119877119877119877 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
119874119874119877119877119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 =36 11987711987711987711987711987711987711987711987711988212 119877119877119877119877119877119877119877119877119882 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879 = 3 times 119868119868119877119877119874119874119877119877119877119877 119878119878119874119874119877119877119877119877119879119879
Drive Gear(connected to motor)
Driven Gear(connected to drive gear)
Driven gear spins 3 times faster than the drive gear
54
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Task 6
Return home
55
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull To successfully complete the RoboHit mission the robot must return to home and stop
bull One way of accomplishing this is to modify the line following program to follow the baseline until home plate (reflective foil tape) is foundndash Please recall that there are two bases with foilndash The white vinyl playing surface can be very
reflective Make sure to position our robotrsquos color sensor high enough from the playing surface (~15 mm) to ensure that your robot and differentiate between the playing field and home base
Return Home
56
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
Return Home
Program lineFollowZZHomec YouTube httpsyoutubeoF184R9pkk4
Here we modify the while loop conditional statement to use the color sensor to detect home base
We increase the turn amount to make the robot zig-zag more
Once home is reached we exit while loop and stop the robot
57
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Solving the Robofest Game challenge will typically require a fairly large EV3 program
bull Very large programs can be difficult to understand navigate and use
bull To alleviate this issue ROBOTC allows the use of functions group and reuse sections of your program
Functions
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull For example letrsquos assume you have a section code that completes the followingndash Move forward until the
edge of the table is found with color sensor 1 then stop
ndash After stopping rotate the robot 90 degrees
bull Here is an examplehellip
Functions
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull Letrsquos create a function called findEdgeAndTurn
Functions
Now can call the function from our main task program
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
bull In this course we learned how tondash Find the playing fieldndash Follow the playing field edgendash Run the basesndash Find the ball standndash Find objectsndash Bat the ballndash Return homendash Functions
Putting It All Together
61
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
-
robofestLTUeduLTU Computer Science
Little Robots Big Missions
Questions
62
- Slide Number 1
- Course Overview
- 2017 Robofest Competition
- 2017 Robofest Competition
- LEGO EV3 robot used ndash SPbot
- Remember the connections
- Brick Overview
- ROBOTC Versions Used
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Setting Up The ROBOTC Environment
- Motors and Sensors Setup
- Motors and Sensors Setup
- Motors and Sensors Setup
- Code generation
- Slide Number 16
- Task 0 Find The Playing Field
- Task 0 Example Solution
- Reading sensors values
- Debugger Windows
- Reading sensors values
- Slide Number 22
- Follow The Playing Field Edge
- Follow The Edge Of The Field or Mat
- Follow The Edge Of The Field or Mat
- Simple Line Following Algorithm
- How to improve our line following algorithm
- Slide Number 28
- Run The Bases
- Run The Bases
- Run The Bases
- Run The Bases
- Slide Number 33
- Find The Ball Stand
- Find The Ball Stand
- Measure Distances
- Measure Distances
- Measure Distances
- Find The Ball Stand
- Find The Ball StandCompute Distance To Travel
- Find The Ball StandLine Follow The Proper Distance
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandSpin 90 Degrees
- Find The Ball StandTravel To The Ball Stand
- Slide Number 48
- Find objects
- Find objects
- Find objects
- Slide Number 52
- Bat the ball
- Bat the ball
- Slide Number 55
- Return Home
- Return Home
- Functions
- Functions
- Functions
- Putting It All Together
- Little Robots Big Missions
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![RobotC Project PP[1]](https://static.fdocuments.in/doc/165x107/577d2dfe1a28ab4e1eae8724/robotc-project-pp1.jpg)
