Intermediate-Robotics-1-1s-Coach-Workshop-082012

oregontrimmingΤεχνίτη Νοημοσύνη και Ρομποτική

2 Νοε 2013 (πριν από 3 χρόνια και 9 μήνες)

66 εμφανίσεις

Intermediate Robotics

Getting to the Next Level

Guiding Question: How might I move the robot
consistently
,
accurately
, and
predictably
?



Review basics (consistent x
-
y movement)


Reference Points (mechanical stops, sensors)


Videos (examples)


Programming


WAIT block (simple sensors)


Loop/Switch blocks


Advanced blocks (Motor/Sensor/Math/etc.)


MY Blocks


Reminder



KIDS DO THE WORK!!!


Encourage kids to ask questions, do
research, experiment, discuss
observations, etc.



Mentor with questions



Use simple exercises to demo key
concepts/programming skills



Have fun!!!

BOT BASICS

(NXT Curriculum)


Bot calibration


5 rotation test n = D/C


360
°

test



n = (A/360)(2
π
d/C)


Initial Placement



X
-

Y position



angle


Mission mapping

Reference Points


Final position error depends upon:



initial placement (x, y, angle)



distance/angle measurements



bot calibration



Problem: long distances, multiple turns

lead to large final position errors

2011 FLL Table

Angle Errors

2 Degrees Left

2 Degrees Right

Error =
±

1.5


@ 50


Positional Error Reduction

Solution:


identify

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(步数 MOVE d楳i慮捥猠獨ort)


啳攺


-

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-

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Demo Videos

(identifying reference points)


2011 SRES FLL
-

Supai


Youtube (253 pts)


ASU BEST


Mohave Robotics Club

Simple Sensors


WAIT blocks
(ultrasonic, light,
sound, touch)


Basic operation: move
unlimited until
sensor is triggered
and stop


SENSOR ISSUES:


placement on bot


limitations


Challenges/Exercises

(WAIT Blocks)



closest to the wall


using ultrasonic



limitations???



find a line


(find 浵ltiple lines)


light sensor needs calibration


color sensor (no calibration


FLL challenges


FLL table (issues??)


FLL/Avnet challenges

Discussion


Learning??

Moving with LOOP Block

(vs WAIT Block)


Sensors
(ultrasonic)



Logic

Moving with LOOP Block II



Multiple Sensors (with COMPARE block)

Line Following

(LOOP/SWITCH/SENSOR BLOCKS)

Challenges


follow a line (or find a line and follow it)



use touch sensor to

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FLL challenges (i.e. pill push)



FLL table challenges

Discussion


Learning??

11/2/2013

Advanced Programming
-

Tony Ayad

17

VARIABLE
block


The variable block is a

bucket


where you can store
information and retrieve it at a later time.


There are three types: Number, Text, and Logic




MATH
block


The math block allows the addition, subtraction, division
or multiplication of two numbers.





COMPARE
block


The compare allows you to determine if one number is
greater than, less than or equal to another number.


Input

Output

Output (True or False)

Input

Advanced Blocks

VARIABLES


how to create your own
variables



To create your own variables

1. Select

File


Menu and "Define Variables" option




2. Type the name of the variable, then select its type.






11/2/2013

Advanced Programming
-

Tony Ayad

18

Data Hubs and Data Wires


Data Hub
is another way of providing input data
into a Block.



Most blocks have a tab at the bottom and when
clicked the block expands to show its data
"hubs"



The
MOVE

block has are several data

hubs that correspond to its input fields



Data wires

connect
data hubs
; you create a
data wire by

drawing it out


of a block

s data
hub.

11/2/2013

Advanced Programming
-

Tony Ayad

19

Power

Direction

Duration degrees

Next Action (brake or coast)

Steering

Left Motor

Right Motor

Other Motor

Data Wire

Move Input Distance I

(Variable & Math Blocks, Wiring)

Input distance

Convert distance

to degrees &

Input to MOVE block

Distance
-
Power Example II

(Variable & Math Blocks, Wiring)

MY Blocks

Condenses multiple blocks to a single
block (a sub
-
routine)


multiple use of same coding sequence


reduces memory needed


MY Block Example

Select blocks

Create MY Block

Name Variables in MY Block

Name Values

Before

After

MY Block Use


Use for repeated operations


find a line


line following


etc.


Include variables into MY blocks

(repeated operations with different parameters)


Where ever

SCC Avnet Competition


Tasks (located at trigger points):


-

raise flag


-

pill push


-

grab

Trophy



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SCC Avnet TechGames


Show program build


Show videos


Exercises


Create a MY Block


follow line & find trigger points


design your own challenge



Create MY block with 1 or more variables


follow line & use variable distance ultrasonic


design your own challenge

Reminder



KIDS DO THE WORK!!!


Encourage kids to ask questions, do
research, experiment, discuss
observations, etc.



Mentor with questions



Use simple exercises to demo key
concepts/programming skills



Have fun!!!

Info Sources



http://engineering.asu.edu/k12outreach/fll/coaches


NXT Programs = Robot Building Instructions


Oregon FLL Video NXT Tutorial


Introductory Robotics Curriculum


Intermediate Robotics Instruction



Youtube.com (NXT programming)



books


Kelly, James



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