Amazing127_RobotCDesignDoc

Transcription

1 Amazing127_RobotCDesignDoc Specifications: -Length 6.6 in -Width 9.7 in -Height 6.6 in Pictures of our robot: Left Side Back Side Right Side

2 Front Side Componets: 1 Small Motor 2 Large Motors 1 Touch Sencor 2 Large Wheels 1 Silver Ball Programing: Our robot was programed to follow this course

3 Pesudocode And Code: Start //start motorc 100% power //start motord 100% power //run both for 3000 MiliSec //start motorc 100% power //start motord 45% power //run both for 900 MiliSec //start motorc 100% power //start motord 100% power //run both for 4400 MiliSec //start motorc 45%power //start motord 100%power // run both for 900 MiliSec //start motorc 100% power //start motord 100% power //run both for 2400 MiliSec //start motorc 100% power //start motord 45% power //run both for 900 MiliSec //start motorc 100% power //start motord 100% power //run both for 4000 MiliSec //start motorc 100% power //start motord 45% power //run both for 900 MiliSec //start motorc 100% power //start motord 100% power //run both for 5500 MiliSec //start motorc 100% power //start motord 0% power //run both for 4000 MiliSec

4 Flow Chart: Start File Start motor C Full power Start motor D Full power Wait 3.5 sec Start motor C full power Start motor D full power Start motor C full power Wait 0.9 sec Start motor C full power Start motor D full power Wait 5 sec Start motor C 45% power Start motor D full power Start motor D 45% power Wait 2 sec Start motor C full power Start motor D full power Wait 4 sec Start motor C full power Start motor D full power Wait 0.9 sec Wait 0.9 sec Start motor C full power Start motor C Start full motor power D 45% power Start motor D Wait 0.9 full sec power Start motor C full power

5 Wait 4 sec Start motor C full power Wait 5.5 Sec

6 BigMac RobotC Design Document: Specifications: Robot Dimensions: (must be less than 12 x12 x12 ) Length: 8 Width: 7 Height: 5 Pictures of Robot: Main Components: 2 motors (B and C) to drive 1 bump sensor 2 large tires with rough tread 1 small grey ball on back Programming: The name of the program is Robot C and we have to insert every program ourselves to make our robot move. We have to program each motor with a certain name as well as type in the exact milliseconds that we want it to move with. Basically our program directs the robot to complete the following course and end the course with a 360 spin.

7 The robot must complete this course and do a 360 at the end. Pseudocode and Code: Pseudocode should be typed up following correct RobotC procedures (//). Code may be screen shot and pasted in, but should be free from grammar and syntax errors. Our code and pseudocode in RobotC. Be sure to capture your motor and sensor setup in the image.

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9 //start motor b //start motor c //run both for 3.5 seconds //stop motor b //stop motor c //run both for 2 seconds //start motor b //stop motor c //run both for 1.5 seconds //start motor b //start motor c //run both for 5 seconds //repeat until touch //start motor b //stop motor c //run both for 1.5 seconds //start motor b //start motor c //run both for 4 seconds //start motor b //stop motor c //run both for 4 seconds

10 Flowchart: Start Program Wait for 5 Seconds or till you touch/bump Turn Motor B on Full Reverse Speed Turn Motor A & B Full Speed Turn Motor B & C full speed Turn Motor C off Comple Course Wait 3.5 Seconds Wait for 1.5 Seconds Wait 1.5 seconds Wait for 4 Seconds Turn Motor A & B off Turn Motor C off Turn Motor B & C full speed Turn Motor C off Wait 2 Seconds Turn Motor B full speed Wait for 4 seconds Turn Motor B full speed reverse Testing: Trial Complete/Fail Adjustments Course 1 Fail First attempt of the course with startup code 2 Fail Decreased right motor to 97 as it kept swerving 3 Fail Changed rotation time to 500 milliseconds to reach the turn 4 Complete First completion of course with Complete Double checked my programming to make sure it worked The first time I attempted the course, I failed because my code was way off on turning left and right. So, the second time I corrected the code and I decreased the right motor speed to 97 because the robot was swerving more to the right and I still failed due to the rotation of the robot when turning around the corner. So, I changed the rotation time to 500 milliseconds and this seemed to solve the problem. This change allowed me to reach the end and do a 360 degree spin. The final time I wanted to see if my program worked or if it was just luck. Depending on my placement of my robot it worked when I started the course to the left which made up for the rotation going to the right.

11 RobotC Design Document Specifications Dimensions: 8 x 5 x 7 Primary Components: Touch Sensor, EV3 Large Servo Motors and EV3 Brick Pictures: Programming

12 Testing Throughout the design of our robot, many modifications were made. One of the first modifications that we added was wheel guards; the wheel guards prevent the wheels from getting stuck on the side of the wall and this allowed the robot to be able to hit walls, if it drifted to the side, without making us worry about having our robot getting stuck. The majority of design changes were created in our coding design. We started out making the robot move by writing the movement code with every movement; we quickly realized that this was not a good way of doing things. We decided to instead write functions containing the movement code and this allowed us to quickly make the robot move. For example, to move forward, instead of typing the entire command, we can simply type forward. After that, we decided to make the writing of the movement functions faster by creating a define macro; the define macro allows us to write a little code that is then automatically replaced by more code. We also modified the placement of the touch sensor from the original design to a new location, and that allowed the robot to more accurately sense touch. One of our biggest changes was creating a program that outputted how far the robot had travelled, allowing us to measure distances much faster.

13 Modifications for Robot and Code (The time column measures, in minutes, the amount of time it took us to complete the maze. The modifications column shows the modifications we made to achieve that time.) Time (min) Modification 19 No modifications 17 Use of functions - Removes the effort required in a a writing common move commands 15 Define macro - Removes redundant move commands in a functions 13 New Wheels - Made the turns more accurate 12 Measuring Program - Removes the need for manual a measuring

14 Specifications: Robot Dimensions: (must be less than 12 x12 x12 ) Length: 11" 1/2 Width: 10" ½ Height: 8" Pictures of Robot: C3PO127_RobotCDesignDocument Main Components: 2 motors (B and C) to drive 1 touch sensor 2 medium tires with rough tread Programming: Our program directs the robot to follow the following course and end the course with a 360 spin.

15 Note, each square represents a motor time of 1 second. Pseudocode and Code: Pseudocode should be typed up following correct Robot-C procedures (//). Code may be screen shot and pasted in, but should be free from grammar and syntax errors.start Motor A Start Motor c 100% full speed Start Motor d 100% full speed //run both for 5.5 s 100% full power //stop motor a //start motor b //run motor b for 1.5 s //start motor a full speed //start motor b full speed //run both for 3.5 s 100% full power //stop motor a //run motor b for 1.5 s 100% full power

16 //start motor a //run both for 2.5 s 100% full power //stop motor b //start motor a //run motor a for 1.5 s //start motor b //start motor a //start motor b //run for 4.5 s //stop motor a //run motor b for 1.5 s //start motor a //run both for 4.5 s 100% full power Our code and pseudocode in RobotC. Be sure to capture your motor and sensor setup in the image.

17 FlowChart: Flow charts can be done using any program (lucidchart in google drive recommended) but should follow all rules of flowchart symbols.

18 Testing: Students will explain the testing of their robot and what modifications they made to improve its speed, accuracy, or attack (BattleBots). This should include physical changes to the robot such as changing the wheels, modifications to the missile/attack arm or even redesigning the robot. It should also include specific changes to the programming. Students should include a data table showing the results of different trials. Trial Time Adjustments s First successful completion of the course s Increased the distance between the sensors to 14cm s Decreased the distance between the sensors to 12cm s Increased the power on the motors to 80% s Increased the power on the motors to 90%

19 C for Champ74_Robot C Design Doc Pseudocode and code: pseudocode in green ( 10 points ) and code in blue and red ( 10 points )

20 Flowchart Testing: I had set up a course but could not make it through. I had some difficulty's trying to go through the course like the motors were not in sync and how in some parts it was too short some miss leaded. At the end I could not do it but I was so close.at the end like the motors went left and did not stop because the sensor did not feel the bump. I put the info in the table. Trial Time Adjustments 1 fail Made it go reverse 2 fail Changing one moter speed to go straight 3 fail Making it go longer distance 4 fail Made the touch sensor longer 5 fail Also tried to change the wheels 6 fail Tried to change the code for the touch sensor

21 EbonHawk127_RobotCDesignDoc Specifications: Robot Dimensions: (must be less than 12 x12 x12 ) Length: 11 Width: 8.5 Height: 9 Pictures of Robot: Front: Side: Back: Main Components: 2 motors (C and B) to drive 1 touch sensor (A) to use touch sensor 2 Tracks 1 small grey wheel on back Programming: Our program directs the robot to follow the following course and end the course with a 360 spin. Each square represents a motor time of 1 second.

22 Pseudocode and Code: //start motor B //start motor C //run both for 5 seconds //Stop motor B //start motor C //run motor C for 3 seconds //start motor B //start motor C //run both for 3 seconds //stop motor C //start motor B //run motor B for 3 seconds //start motor B //start motor C //run both for 2 seconds

23 //stop motor B //start motor C //run motor C for 3 seconds //start motor C //start motor B //run both for 5 seconds //stop motor C //start motor B //run motor B for 3 seconds //start motor C //start motor B //run both for 3 seconds //stop motor C //start motor B //run motor B for 10 seconds

24 Flow Chart:

25 Testing: Trial Time Adjustment 1 13:00minutes Completed the Course 2 12:45minutes I Put Rubber Bands on the wheels to have more friction so it can move more smoothly 3 11:24 Increased the distant of the Touch Sensor by 5cm 4 11:20 Didn't do anything 5 11:49 Moved back the sensor

26 Design Document Specifications 1 Programming 3 Pseudó-Code and Code 3 Testing 3 Flowchart 4 Specifications Length(cm): 21.1 Height(cm): 14.5 Width(cm): 19.4 Motor Port Motor A Motor B Motor C Motor D Drive Side Reversed N/A Left Right N/A

27 Sensor Port S1 S2 S3 S4 Sensor Touch Sensor N/A N/A N/A Top: Back: Front:

28 Programming Pseudó-Code and Code Testing Trial Time(min) Mistakes/Improvements TIme Lost 1 47:58 We did not have turning down/for the next trial we figured out the exact number of degrees in a :34 Our turning was off by a few degrees/we replaced the battery 35 min 5 min 3 19:43 Turning was off until bat. Was replaced 6 min 4 18:50 The robot had been dropped and was now turning akwardly and unevenly until a piece was removed 10min

29 Flowchart

30 Specifications: Height:5 inches Length:4.2 inches Width:5.7 inches Program/Pseudocode:

31 Flowchart:

32 Testing: Trials Adjustments 1 At wait1msec(2000) after the end of sections of commands 2 Changed the sync motor power to -100 and Used a positive sign in front of 100 instead of a negative to make a left turn 4 Added semicolons to the commands that needed them 5 Changed number of degrees used to make turns We made many adjustments to our programming. One of the adjustments was that we had to add a wait command after the commands that were in sections. This helps the robot know when to move onto the next set of commands. The next adjustment we made was to change the sync motor power to 100 instead of This helped us with our point turns. After this we found that some commands had no semicolon so we had to add some to the ones that didn t. The program would not work without semicolons. The final adjustment we made was to change the number of degrees for the turns. Without the degrees set to the right number that robots turns would be off and could impact it ability to get through the maze.

33 TeamOneElement74 Pseudocode and Code Section Pseudocode is found in green below ( 10 points) Code is found in red and blue (10 points)

34 Flow Chart ( 5 points ) Testing ( 5 points ) Trial Time Results/Modifications 1 8s Crashed the wall./ Make it not hit the wall. 2 10s It went the wrong way/ make it turn and go straight. 3 12s Went off the course/ Make it turn 4 13s Stop to early/ put more sec on it 5 13s Hit the block but didn t go back/fix the code 6 15s Motor transplant/ because one motor was going faster than the other. 7 17s I finally finished it

35 Robot Dimensions: Length: 1 0.5" Width: 9 Height: 5,1/2 Pictures of Robot:

36 SGTROOKIESC127_RobotCDesignDocument Specifications: Robot Dimensions: (must be less than 12 x12 x12 ) Length: 9 Width: 8.5 Height: 6 Pictures of Robot: Main Components: 2 motors (B, A, and C) to drive 2 medium tires with rough tread 1 small grey wheel on front 1 touch sensor Programming: Our program directs the robot to follow the following course and end the course with a 360 spin. Note, each square represents a motor time of 1 second.

37 Pseudocode and Code: Pseudocode should be typed up following correct Robot-C procedures (//). Code may be screen shot and pasted in, but should be free from grammar and syntax errors. //start motor a, //start motor b, //run both for 5.5 s //stop motor a //start motor b //run motor b for 1.5 s //start motor a, //start motor b, //run both for 4 s //stop motor a, //start motor b, //run both for 1.5 s //start motor a, //stop motor b, //run both for 3 s //stop motor a, //start motor b, //run both for 1.5 s //start motor a, //start motor b, //run both for 6 s //stop motor a, //start motor b, //run both for 1.5 s //start motor a, //start motor b, //run both for 3 s Our code and pseudocode in RobotC. Be sure to capture your motor and sensor setup in the image.

38 FlowChart: Flow charts can be done using any program (lucidchart in google drive recommended) but should follow all rules of flowchart symbols.

39 Testing: Students will explain the testing of their robot and what modifications they made to improve its speed, accuracy, or attack (BattleBots). This should include physical changes to the robot such as changing the wheels, modifications to the missile/attack arm or even redesigning the robot. It should also include specific changes to the programming. Students should include a data table showing the results of different trials. Trial Time Adjustments 1 7s Fixing which side to turn 2 20s Finishing the other half of the course 3 36s Fixing which side to turn 4 44s Fixing which motor to turn off and leave one on 5 53s Fixing the distance to move

40 Team LJ74_RobotC DesignDoc Pseudo Code and Code ( pseudo in green and code in blue and red ) Specifications: Robot Dimensions: Length: 5 Width: 8 Height: 7 Pictures of Robot:

41 Main Components: 2 motors (A and D) to drive 1 touch sensors 2 large tires with smooth tread 1 pivot wheel on the back Flowchart

42 Testing: I did a simple course to write robot c and I have made some changes in the program to get through the course. I put the changes into a data table. When the robot failed to get through the course, I made changes that I thought would help. When it was successful, I made changes that I thought would make it faster. Trial Time Adjustments 1 Fail Changed the time on the first straight block 2 Changed the positive power with negative power to go straight for 5.5sec success 3 fail Decreased the time by 50% 4 fail Changed the touch sensor to 2 seconds 5 success Changed the time to 100

43 Team Teemo74_RobotCDesignDoc Pseudocode and Code Pseudocode in Green ( 10 points ) and Code in Blue and Red ( 10 points )

44 Flow Chart ( 5 points ) Testing: ( 5 points ) Trial Result Adjustments 1 Fail Hit walls and took too long / lowered left motor to keep robot straight 2 Fail Turned and hit the box / extended time for first chunk of code 3 Fail Hits the wall / decrease speed for both motors 4 Fail At the turn it hits the wall /increased speed of the right motor 5 Fail Robot didn t turn as much and hit pole / increased speed of right motor

45 Specifications: Robot Dimensions: Length: Width: 8 Height: 3.75 Pictures of Robot:

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