fischertechnik COMPUTING ROBO MOBILE SET 8 Mode D'emploi page 40

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GB+USA
Intelligent
Wheeled Robots
Basic Model
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O B I L E E T
■ Robots require sensors in order to be aware of their environment. The following suggested models
introduce a few different mobile robots enabling us to try out the operation of the different sensors. It
is thereby imperative that internal states of the robot e.g. measurement of distance traveled using pulse
wheels, as well as external signals e.g. light-seeking or tracking are linked. Different assignments have
been created for each model. They are designed to give you ideas and to make you familiar with the
subject matter. The programs for each assignment can be found in the ROBO Pro directory under \Sample
Programs\ROBO Mobile Set\. But feel free to come up with your own assignments for each model. Once
you have completed the following examples you're sure to come up with many more ideas.
■ Compared to out first "Simple Robot" the basic model is more stabile and robust. In addition it
contains 2 sensors to measure the distance traveled, consisting each of a
pushbutton sensor and a pulse wheel. The pulse wheel is connected
to the motor shaft and activates a pushbutton sensor four times
with each rotation of the motor.
This model serves as a foundation for the other mobile robot
models.
Follow the construction manual to put together the Basic Model. Take great
care during the construction. When the mechanical part of the construction is
complete test the smoothness of operation of each motor by connecting it directly to the battery pack
without using the Interface.
A s s i g n m e n t 1 ( L e v e l 1 ) :
● Program the Interface so the model drives straight ahead for 40 pulses.
● Use the counting sensor at input terminal I1 to measure the pulses.
● Measure the distance covered by the model and calculate the distance traveled per
pulse.
● Repeat this test 3 times and record the variations of the values in a table.
Ti p s :
• First switch on both motors (rotational direction left).
• Use the program element Pulse Counter to count the pulses at I1.
• Count both pulse edges (0-1 when pressing, 1-0 when letting go of the pushbutton). You can set this
under pulse type in the property window. This will make the measurement of the distance traveled
more exact.
• Then switch off the motors and end the program.
• You will find the finished program under Basic Model1.rpp.
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