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The Lightseeker
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Ti p s :
• First create a subprogram "Straight". Then you can create the other subprograms by copying the first
one. The only thing left to do is to adjust the rotational direction of the motors.
• Using a lower speed when turning left and right will increase the accuracy.
• Once again, use the Pulse Counter element and the pushbutton sensor at input terminal I1 to count
the pulses.
• First load the program into the RAM until you have found out how many pulses are necessary to
perform a 90° turn. For one thing loading into the RAM is much faster than loading into the FLASH
memory and secondly the Flash memory has a "limited" life span of approx. 100.000 downloads.
• The finished program is called Basic Model 2.rpp.
■ Since you have now worked with the Basic Model
extensively it is time for your robot to learn to react to
signals from its environment. Similar to the moth from our
thought experiment of the first chapter it will detect a
source of light and follow it. The construction kit contains 2
phototransistors that we will use as light detector. Thereby each sensor
affects one motor making it possible for the robot to pursue the source of light.
The program consists of two parts. One part deals with searching for a source of light, the other part
implements the pursuit or driving toward the light source. Again we will use subprograms to accomplish
this. After switching it on the light-seeking subprogram will be activated. This subprogram will continue
until a source of light has been detected. The main program tries to steer the robot toward the source
of light. Whenever the direction of the robot greatly deviates from the ideal line, one of the sensors will
no longer be illuminated from the light source. This makes the robot change its direction until both
sensors can again detect the source of light.
First assemble the light-seeking model according to the construction manual.
A s s i g n m e n t 1 ( L e v e l 2 ) :
● First program the "light-seeking" function. The robot should turn slowly at least
360°. Should it find a light, the robot will stop. Otherwise it will turn another 360° in
the other direction. If it is still unable to detect a light source it will wait for 5
seconds and then begin again with its search.
● If it successfully detects a source of light the model should drive toward it. If the
light source moves to the left or the right, the robot should follow the movements of
the light If the robot looses contact the program should return to the light-seeking
routine. See if you can attract the robot with a flashlight and guide it through an
obstacle course.
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