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CHAPTER 20 PUSHBOT PROGRAM IT
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Figure 20-18. This MOVE block will allow the PushBot to move away from the figurine. First, I ll have the bot make a right turn (see Figure 20-19).
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Figure 20-19. This MOVE block allows the PushBot to turn right.
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Next, Figure 20-20 shows the MOVE block needed so the PushBot moves forward 2 feet. Keep in mind that this is one of those configurations that might need to be changed; you won t know until you test your bot with three figurines properly placed.
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Figure 20-20. This MOVE block sends the PushBot forward approximately 2 feet. And, finally, I need the bot to spin to the left (see Figure 20-21).
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Figure 20-21. This MOVE block allows the PushBot to turn left. Time to test; let me describe my testing environment. I place three water bottles 4 feet from a wall in my living room. Each water bottle is 2 feet apart as well. I then place three squares of black paper about 4 inches behind each bottle (the paper is taped down so it can t be pushed along with the bottle). I then place my PushBot about 9 feet away from the first bottle, pointing directly at the bottle with the Ultrasonic Sensor and with the cage fully open. And here s what happens. I have success on the first figurine, but overshoot the second figurine by about 6 inches. I fix this by reducing the number of durations motors B and C spin (in Figure 20-20) from 5 to 4. I also have a problem with the cage closing properly but opening too wide, and the arms rub the tires. I reduce the time for the cage to open from 1 second to .5 seconds (half a second). On the second test, I have perfect success all three figurines are located and pushed to their proper locations without tipping over. At this point, I d like to remind you that your settings will probably be different. Motors and sensors all have varying sensitivity, so testing is an absolute requirement at this point. Don t stress about this part of building robots; this is how you improve your skills and gain insight into the way robots work in different environments. Figure 20-22 shows the approximate location of the PushBot at this point. I ve got to get it moving so it can push the fourth figurine up the ramp and onto the sarcophagus.
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Figure 20-22. The PushBot should be located here.
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The Final Figurine
Now to what I consider the easy part. Okay, maybe not easy, but definitely easier than trying to push three figurines onto pressure plates. I have some rough distances to work with from Figure 20-22, so I ll use these measurements, along with the Sound Sensor, to help me position the PushBot for its final task. First, I ve got to reorient the bot. Since it is pointing away from the fourth figurine, I m first going to have the bot spin to the right and then move to Point A in Figure 20-22. The cage will be pointing in the direction of the sarcophagus when it reaches Point A. I ll drop a MOVE block in for the turn to the right (see Figure 20-23).
CHAPTER 20 PUSHBOT PROGRAM IT
Figure 20-23. This MOVE block will spin the bot to the right in a clockwise direction. Next I ll add another MOVE block that will force the bot to move to Point A approximately 4 feet (see Figure 20-24).
Figure 20-24. This MOVE block moves the bot backward to Point A.
CHAPTER 20 PUSHBOT PROGRAM IT
My bot moves back seven rotations (approximately 4 feet) and stops. It s now at Point A and I m ready to get it to point B. It s important for me to have the bot centered with the figurine and the ramp. To do this, I ll perform plenty of tests using the Sound Sensor to get it to stop and turn at precisely the right point where I want it. I drop in another MOVE block (see Figure 20-25) to get the bot to turn right (the bot s cage will be facing away from the first three figurines).
Figure 20-25. This MOVE block turns the PushBot toward Point B. And now I want the bot to slowly move down to Point B. I say slowly because I m going to watch it and trigger the Sound Sensor to stop the bot when it reaches the center point. Again, this will take some practice to determine exactly where the bot should be when I yell Stop! I ll add a LOOP block as shown in Figure 20-26 that will break when the Sound Sensor is triggered. I add in the MOVE block that will slowly spin motors B and C and a WAIT block configured for 2 seconds to give me time to watch as it approaches Point B (see Figure 20-27).
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