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Though the RCX software handles light sensor calibration for you, there are times when you want to do this yourself. Most sensors do not return information in useful forms like bright and dark. Instead, they return values in a numerical range, such as 0 through 255, or 0.0 to 1.0. The values depend not only on what is in front of, or touching, the sensor but also on the ambient environment. If a value of 40 is a bright re ection in a normal room, what would it be if the robot is in a brightly lit room If we are thinking about the re ective light sensor, what is a bright re ection on paper The oor of your kitchen To turn the arbitrary, and locally varied, values returned from a sensor into valuable data you need to calibrate the sensor. For a re ective light sensor, you need to know what values it returns for the bright surface as well as a dark line. A simple way to do this is to look, reading the light sensor as the robot spins in a circle. Remember the largest and the smallest values from the sensor for your de nition of bright and dark (Fig. 13-10). You don t want to test against these mininimum (min) and maximum (max) values directly. You want to see how close the current light value is to one of them, or the current value s relative position from the midpoint. Once you have captured your light values, you can stop the motors for a moment to let the robot come to a stop, and then turn back to the starting position. If you want to make your program really clever, though more complicated, you can keep track of the light values as the program performs its normal duties. You can then use these values to keep the min and max ranges up to date as conditions change over time.
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Programs consist of a series of commands to a controller. These commands can perform some action, manipulate memory, perform math, sense the environment, or make decisions based on internal or external conditions.
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Fig. 13-10.
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Self-calibration.
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From these basic building blocks you can create any manner of interesting and complex behaviors for your robot. Feedback lets your program, and hence robot, react to the environment around it. Whether it is responding to bumper switches or varying values
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from a light sensor, your program can incorporate feedback to keep it moving in the right direction. Of course, most robots are not little wandering machines. Regardless of the job a robot does, or the shape it takes, it will be controlled by a program and it can use feedback from sensors to keep itself running smoothly.
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1. What are syntax and semantics as they relate to computer programming 2. What are subroutines and what are they good for 3. If your program keeps watching an input waiting for it to change, what is that called What if the input interrupts the program, forcing it to pay attention
CHAPTER
Shaping Motion
Introduction
In 6 we talked about passive control. In this chapter we explore some of the mechanisms that can take simple rotation and turn it into complex motions. This chapter makes use of linkages bars or rods that are linked together to control the shape of the motion. You can use clever arrangements of links and gears to make the best use of your power sources. This chapter explores some of those clever arrangements, starting with simple mechanisms and moving into more complex ones. Given a choice between using one motor and a complex mechanism, or two motors and perhaps a simple mechanism, the one-motor solution will probably cost less and be more reliable.
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