Intermediate Robotics Getting to the Next Level

1
Intermediate RoboticsGetting 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

2
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!!!

3
BOT BASICS(NXT Curriculum)

• Bot calibration
• 5 rotation test n D/C
• 360 test n (A/360)(2pd/C)
• Initial Placement
• X - Y position
• angle
• Mission mapping

4
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

5
2011 FLL Table
6
Angle Errors
2 Degrees Right
2 Degrees Left
Error 1.5 _at_ 50
7
Positional Error Reduction

• Solution
• identify intermediate reference points
• (keep MOVE distances short)
• Use
• - mechanical stops (walls, other)
• - sensors

8
Demo Videos(identifying reference points)

• 2011 SRES FLL - Supai
• Youtube (253 pts)
• ASU BEST
• Mohave Robotics Club

9
Simple Sensors

• WAIT blocks (ultrasonic, light, sound, touch)
• Basic operation move unlimited until sensor is
  triggered and stop
• SENSOR ISSUES
• placement on bot
• limitations

10
Challenges/Exercises(WAIT Blocks)

• closest to the wall using ultrasonic
• limitations???
• find a line (find multiple lines)
• light sensor needs calibration
• color sensor (no calibration
• FLL challenges
• FLL table (issues??)
• FLL/Avnet challenges

11
Discussion

• Learning??

12
Moving with LOOP Block(vs WAIT Block)

• Sensors (ultrasonic)

Logic
13
Moving with LOOP Block II

• Multiple Sensors (with COMPARE block)

14
Line Following(LOOP/SWITCH/SENSOR BLOCKS)
15
Challenges

• follow a line (or find a line and follow it)
• use touch sensor to square up to a wall
• FLL challenges (i.e. pill push)
• FLL table challenges

16
Discussion

• Learning??

17
Advanced Blocks

• 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
Input
Output (True or False)
17
Advanced Programming - Tony Ayad
11/8/2016
18
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.

18
Advanced Programming - Tony Ayad
11/8/2016
19
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 datahubs that
  correspond to its input fields
• Data wires connect data hubs you create a data
  wire by drawing it out of a blocks data hub.

Left Motor
Right Motor
Other Motor
Direction
Steering
Power
Duration degrees
Data Wire
Next Action (brake or coast)
19
Advanced Programming - Tony Ayad
11/8/2016
20
Move Input Distance I(Variable Math Blocks,
Wiring)
Input distance
Convert distance to degrees Input to MOVE block
21
Distance-Power Example II(Variable Math
Blocks, Wiring)
22
MY Blocks

• Condenses multiple blocks to a single block (a
  sub-routine)
• multiple use of same coding sequence
• reduces memory needed

23
MY Block Example
Select blocks
24
Create MY Block
25
Name Variables in MY Block
Name Values
26
Before
After
27
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

28
SCC Avnet Competition

• Tasks (located at trigger points)
• - raise flag
• - pill push
• - grab Trophy
• Complete course
• Issues Line Geometry/Trigger Points are NOT
  predefined

29
SCC Avnet TechGames

• Show program build
• Show videos

30
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

31
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!!!

32
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
• LEGO MINDSTORMS NXT-G Programming Guide