robot revolution - smith learning · scratch planning sheet what should the program do: variables:...

Summer Camp 2016Wichita State University

smithlearning.com/robotics

SCRATCH 2Robot Revolution

- 2 -

Output Ports (for motors)defaults are ____ and ____

USB Portconnect to computer

Input Ports (for sensors)defaults are

“The Sensor Line Up”

_________, _________, _________, ____________

ENTER

BACK

SCROLL

Touch Sensor

Sound Sensor

Light Sensor

Ultrasonic Sensor

Color Sensor

Motor

- 3 -

Configuring a Sensor http

://en

chan

ting.

robo

tclu

b.ab

.ca

Supp

ose

we

have

an

NXT

with

a li

ght

sens

or c

onne

cted

on

port

3.

How

do

we

tell

Ench

antin

g th

is?

0

(tell your NXT what is plugged into it, and where)

1. C

lick

on th

e “S

ensi

ng” p

alet

te.

2. C

lick

on th

e ÒC

onÞg

ure

Sens

orsÓ

bu

tton.

A d

ialo

g co

mes

up.

3. F

ind

the

light

sen

sor

conÞ

gura

tion

bloc

k on

th

e le

ft-ha

nd s

ide

of th

e di

alog

. D

rag

it to

“S

enso

r Por

t 3” a

nd

drop

it th

ere.

4. C

hoos

e w

hat s

ort o

f lig

ht s

enso

r you

hav

e.

5. O

ptio

nally

, giv

e it

a de

scrip

tive

nam

e.6. P

ress

“OK”

.

7. Y

ou n

ow h

ave

new

blo

cks

to u

se!

- 4 -

Morse Key

Sele

ct t

he

pal

ette

, and

clic

k on

the

b

utto

n [it

is a

bove

all

the

light

blu

e bl

ocks

].

ConÞ

gure

a t

ouch

sen

sor,

like

this:

Mak

e su

re t

hat

your

tou

ch s

enso

r is

on p

ort

1 on

the

act

ual r

obot

.

Clic

k th

e a

nd w

ait

for t

he p

rogr

am t

o ru

n on

the

robo

t. P

ress

and

rele

ase

the

touc

h se

nsor

. W

hat

happ

ens?

GET

READ

Y

TRY

THIS

COD

E

DO I

T!

Wha

t w

ould

hap

pen

if yo

u ch

ange

d th

e no

te o

r the

du

ratio

n?

Whe

re c

ould

you

use

o

r ?

GO F

ARTH

ERYO

U NE

EDAn

NXT

with

a to

uch

sens

or

conn

ecte

d to

por

t 1.

Pres

s a

butto

n to

mak

e a

soun

d.

Morse Key

http

://en

chan

ting.

robo

tclu

b.ab

.ca

1

Nam

e it.

Beep!

- 5 -

Morse Key

Sele

ct t

he

pal

ette

, and

clic

k on

the

b

utto

n [it

is a

bove

all

the

light

blu

e bl

ocks

].

ConÞ

gure

a t

ouch

sen

sor,

like

this:

Mak

e su

re t

hat

your

tou

ch s

enso

r is

on p

ort

1 on

the

act

ual r

obot

.

Clic

k th

e a

nd w

ait

for t

he p

rogr

am t

o ru

n on

the

robo

t. P

ress

and

rele

ase

the

touc

h se

nsor

. W

hat

happ

ens?

GET

READ

Y

TRY

THIS

COD

E

DO I

T!

Wha

t w

ould

hap

pen

if yo

u ch

ange

d th

e no

te o

r the

du

ratio

n?

Whe

re c

ould

you

use

o

r ?

GO F

ARTH

ERYO

U NE

EDAn

NXT

with

a to

uch

sens

or

conn

ecte

d to

por

t 1.

Pres

s a

butto

n to

mak

e a

soun

d.

Morse Key

http

://en

chan

ting.

robo

tclu

b.ab

.ca

1

Nam

e it.

Beep!

SCRATCH Planning SheetWhat should the program do:

Variables: Sketch:

Inputs:

Outputs:

How the program should work:

- 6 -

Range Finder

From

the

p

alet

te, c

hoos

e th

e b

utto

n.

ConÞ

gure

a u

ltras

onic

sen

sor.

Mak

e su

re t

he p

ort

you

conÞ

gure

it fo

r m

atch

es t

he p

ort

the

real

ultr

ason

ic s

enso

r is

plug

ged

into

!

Clic

k th

e a

nd w

ait

for t

he p

rogr

am t

o ru

n.

Poin

t th

e ul

tras

onic

sen

sor a

t di

ffer

ent

obje

cts.

W

hat

do y

ou s

ee o

n th

e sc

reen

?

GET

READ

Y

TRY

THIS

COD

E

DO I

T!

Wha

t ar

e th

e la

rges

t an

d sm

alle

st v

alue

s yo

u se

e?Ar

e th

ere

any

gaps

whe

re y

ou g

et n

o nu

mbe

rs?

GO F

ARTH

ER

YOU

NEED

An N

XT w

ith a

n ul

traso

nic

sens

or

conn

ecte

d to

por

t 4.

See

how

far a

way

som

ethi

ng is

.

Range Finder

http

://en

chan

ting.

robo

tclu

b.ab

.ca

2

- 7 -


Variables: Sketch:

Inputs:

Outputs:


- 8 -

Sound Meter

From

the

p

alet

te, c

hoos

e th

e b

utto

n.

ConÞ

gure

a s

ound

sen

sor.

Pain

t a

new

cos

tum

e fo

r the

spr

ite --

mak

e it

a do

t!

Clic

k th

e a

nd w

ait

for t

he p

rogr

am t

o ru

n.

Whi

sper

, tal

k, s

ing,

sho

ut, o

r blo

w o

n th

e so

und

sens

or.

GET

READ

Y

TRY

THIS

COD

E

DO I

T!

YOU

NEED

An N

XT w

ith a

sou

nd s

enso

r*

conn

ecte

d to

por

t 2.

* Not

incl

uded

in a

ll N

XT s

ets.

Cre

ate

a so

und-

leve

l met

er.

Sound Meter

http

://en

chan

ting.

robo

tclu

b.ab

.ca

3

Draw

a

gaug

e on

the

ba

ckgr

ound

.

Adju

st h

ow fa

r the

met

er

mov

es b

ack

and

fort

h.

GO F

ARTH

ER

quiet

LOUD!

- 9 -

Sound Meter

From

the

p

alet

te, c

hoos

e th

e b

utto

n.

ConÞ

gure

a s

ound

sen

sor.

Pain

t a

new

cos

tum

e fo

r the

spr

ite --

mak

e it

a do

t!

Clic

k th

e a

nd w

ait

for t

he p

rogr

am t

o ru

n.

Whi

sper

, tal

k, s

ing,

sho

ut, o

r blo

w o

n th

e so

und

sens

or.

GET

READ

Y

TRY

THIS

COD

E

DO I

T!

YOU

NEED

An N

XT w

ith a

sou

nd s

enso

r*

conn

ecte

d to

por

t 2.

* Not

incl

uded

in a

ll N

XT s

ets.

Cre

ate

a so

und-

leve

l met

er.

Sound Meter

http

://en

chan

ting.

robo

tclu

b.ab

.ca

3

Draw

a

gaug

e on

the

ba

ckgr

ound

.

Adju

st h

ow fa

r the

met

er

mov

es b

ack

and

fort

h.

GO F

ARTH

ER

quiet

LOUD!


Variables: Sketch:

Inputs:

Outputs:


- 10 -

Differential Drive

http

://en

chan

ting.

robo

tclu

b.ab

.ca

From

the

p

alet

te, c

hoos

e th

e b

utto

n. C

onÞg

ure

a di

ffer

entia

l driv

e.

The

Þrst

num

ber e

mbo

ssed

on

a LE

GO

tire

is th

e tir

eÕs

diam

eter

in

milli

met

ers.

Thi

s tir

e is

56

mm

acr

oss.

The

track

wid

th is

how

far a

part

the

whe

els

are.

Mea

sure

from

a p

lace

on

the

left

whe

el to

that

sam

e pl

ace

on

the

right

whe

el.

Her

e, m

easu

ring

from

th

e le

ft-m

ost p

oint

of t

he le

ft w

heel

to

the

left-

mos

t poi

nt o

f the

righ

t whe

el,

the

track

wid

th is

abo

ut 9

.4 c

m.

Port A

Right motor

Port C

Left motor

9.4

cm 4

If yo

u te

ll th

e ro

bot t

o dr

ive

forw

ards

an

d it

goes

bac

kwar

ds, s

wap

the

dire

ctio

n th

at y

ouÕv

e co

nÞgu

red

the

mot

ors

to d

rive

in th

e dr

ive

type

.

The

robo

t nee

ds

to k

now

whi

ch

ports

the

left

and

right

mot

ors

are

on s

o it

can

stee

r!

If yo

ur ro

bot h

as tw

o w

heel

s, it

is u

sing

a

diffe

rent

ial d

rive!

(lets your two-wheel robot drive around)

- 11 -

Activ

ities

For e

ach

path

bel

ow, p

rogr

am y

our r

obot

to d

rive

as in

dica

ted:

Piaz

za D

iscus

sion

& So

lutio

n(s

ee “W

hat i

s Pi

azza

?” to

lear

n ab

out t

his

feat

ure)

Ques

tion

For p

art 2

, by

how

man

y de

gree

s sh

ould

eac

h m

otor

rota

te in

ord

er to

turn

the

robo

t 180

°? (a

ssum

ing

“sta

ndar

d ca

r” c

onÞg

urat

ion)

Piaz

za D

iscus

sion

& So

lutio

n

3Ri

ght t

urns

4Ri

ght t

urn,

le

ft tu

rn5

Cur

ve ri

ght

6C

ircle

14

Activ

ities

& Qu

estio

ns 2Fo

rwar

d,

turn

180

û, fo

rwar

d1

Forw

ard,

re

vers

e

PDF

Que

stio

n

- 12 -

Square Dance

From

the

p

alet

te, c

hoos

e th

e

butt

on.

ConÞ

gure

a d

iffer

entia

l driv

e, u

sing

the

inst

ruct

ions

on

Card

#4

. M

easu

re n

umbe

rs t

o m

atch

you

r rob

ot.

Clic

k th

e a

nd w

ait

for t

he p

rogr

am t

o ru

n. U

nplu

g th

e US

B ca

ble

and

plac

e th

e ro

bot

whe

re y

ou w

ant

it to

st

art.

Pre

ss t

he o

rang

e Òe

nter

Ó bu

tton

on

the

NXT.

Does

the

robo

t Òd

ance

Ó in

a s

quar

e? (

Is it

conÞ

gure

d pr

oper

ly?)

No

te t

hat

youÕ

ll ne

ver g

et 1

00%

acc

urat

e m

otio

n.

Pres

s th

e or

ange

Òen

terÓ

and

dar

k gr

ey Ò

exitÓ

but

tons

on

the

NXT

to

quit

the

prog

ram

bef

ore

plug

ging

it b

ack

into

the

com

pute

r.GET

READ

Y

TRY

THIS

COD

E

DO I

T!

Wha

t ot

her s

hape

s an

d pa

tter

ns c

ould

you

mak

e th

e ro

bot

Òdan

ceÓ?

Cou

ld y

ou h

ave

one

robo

t Òd

ance

Ó a

squa

re in

side

a sq

uare

bei

ng Ò

danc

edÓ

by a

noth

er ro

bot,

at d

iffer

ent

spee

ds?

GO F

ARTH

ER

YOU

NEED

An N

XT w

ith tw

o dr

ivin

g w

heel

s.

Driv

e in

a s

quar

e.

Square Dance

http

://en

chan

ting.

robo

tclu

b.ab

.ca

5

- 13 -

Square Dance

From

the

p

alet

te, c

hoos

e th

e

butt

on.

ConÞ

gure

a d

iffer

entia

l driv

e, u

sing

the

inst

ruct

ions

on

Card

#4

. M

easu

re n

umbe

rs t

o m

atch

you

r rob

ot.

Clic

k th

e a

nd w

ait

for t

he p

rogr

am t

o ru

n. U

nplu

g th

e US

B ca

ble

and

plac

e th

e ro

bot

whe

re y

ou w

ant

it to

st

art.

Pre

ss t

he o

rang

e Òe

nter

Ó bu

tton

on

the

NXT.

Does

the

robo

t Òd

ance

Ó in

a s

quar

e? (

Is it

conÞ

gure

d pr

oper

ly?)

No

te t

hat

youÕ

ll ne

ver g

et 1

00%

acc

urat

e m

otio

n.

Pres

s th

e or

ange

Òen

terÓ

and

dar

k gr

ey Ò

exitÓ

but

tons

on

the

NXT

to

quit

the

prog

ram

bef

ore

plug

ging

it b

ack

into

the

com

pute

r.GET

READ

Y

TRY

THIS

COD

E

DO I

T!

Wha

t ot

her s

hape

s an

d pa

tter

ns c

ould

you

mak

e th

e ro

bot

Òdan

ceÓ?

Cou

ld y

ou h

ave

one

robo

t Òd

ance

Ó a

squa

re in

side

a sq

uare

bei

ng Ò

danc

edÓ

by a

noth

er ro

bot,

at d

iffer

ent

spee

ds?

GO F

ARTH

ER

YOU

NEED

An N

XT w

ith tw

o dr

ivin

g w

heel

s.

Driv

e in

a s

quar

e.

Square Dance

http

://en

chan

ting.

robo

tclu

b.ab

.ca

5


Variables: Sketch:

Inputs:

Outputs:


- 14 -

Crash Test

➔

as

on C

ard

#4.

➔

. Co

nÞgu

re a

tou

ch s

enso

r for

use

as

a bu

mpe

r.

Clic

k th

e a

nd w

ait

for t

he p

rogr

am t

o ru

n. U

nplu

g th

e US

B ca

ble

and

plac

e th

e ro

bot

whe

re y

ou w

ant

it to

st

art.

Pre

ss t

he o

rang

e Òe

nter

Ó bu

tton

on

the

NXT.

The

robo

t dr

ives

unt

il it

hits

som

ethi

ng.

Pick

it u

p an

d pr

ess

the

Òent

erÓ

butt

on a

gain

. It

driv

es u

ntil

it hi

ts s

omet

hing

.

GET

READ

Y

TRY

THIS

COD

E

DO I

T!

Can

you

mak

e th

e ro

bot

say

som

ethi

ng w

hen

it hi

ts a

w

all,

such

as,

ÒOu

ch, m

y no

seÓ

or Ò

Ooof

Ó? C

ould

you

dr

aw e

yes

on it

and

mak

e it

win

ce?

Ho

w w

ould

you

mak

e th

e ro

bot

expl

ore

a ro

om?

Try

it o

ut!

GO F

ARTH

ER

YOU

NEED

An N

XT w

ith tw

o dr

ivin

g w

heel

s an

d a

bum

per (

touc

h se

nsor

) on

port

1.

Driv

e in

to a

wal

l and

then

sto

p.

Crash Test

http

://en

chan

ting.

robo

tclu

b.ab

.ca

6

- 15 -


Variables: Sketch:

Inputs:

Outputs:


- 16 -

Shy Puppy

➔

as

on C

ard

#4.

➔

. Co

nÞgu

re a

n ul

tras

onic

sen

sor.

Clic

k th

e a

nd w

ait

for t

he p

rogr

am t

o ru

n. U

nplu

g th

e US

B ca

ble

and

pres

s th

e or

ange

Òen

terÓ

but

ton

on t

he

NXT.

Try

wal

king

aw

ay fr

om t

he ro

bot.

Do

es it

follo

w?

Try

goi

ng t

owar

ds

it. D

oes

it sh

y aw

ay?

Doe

s it

ever

sta

nd s

till?

GET

READ

Y

TRY

THIS

COD

EDO

IT!

Wha

t w

ould

hap

pen

if yo

u m

ade

the

robo

t tu

rn?

Wha

t do

tw

o or

mor

e ro

bots

to

geth

er d

o?

Add

a fa

ce t

o th

e ro

bot,

mak

e it

Òspe

akÓ,

or d

ress

it u

p!GO F

ARTH

ER

YOU

NEED

An N

XT w

ith tw

o dr

ivin

g w

heel

s an

d an

ul

traso

nic

sens

or p

oint

ing

forw

ards

Rob

ot fo

llow

s yo

u ar

ound

and

w

ants

to b

e cl

ose,

but

not

too

clos

e!

Shy Puppy

http

://en

chan

ting.

robo

tclu

b.ab

.ca

8

Too far!

Too close!

Just righ

t!

- 17 -

Shy Puppy

➔

as

on C

ard

#4.

➔

. Co

nÞgu

re a

n ul

tras

onic

sen

sor.

Clic

k th

e a

nd w

ait

for t

he p

rogr

am t

o ru

n. U

nplu

g th

e US

B ca

ble

and

pres

s th

e or

ange

Òen

terÓ

but

ton

on t

he

NXT.

Try

wal

king

aw

ay fr

om t

he ro

bot.

Do

es it

follo

w?

Try

goi

ng t

owar

ds

it. D

oes

it sh

y aw

ay?

Doe

s it

ever

sta

nd s

till?

GET

READ

Y

TRY

THIS

COD

EDO

IT!

Wha

t w

ould

hap

pen

if yo

u m

ade

the

robo

t tu

rn?

Wha

t do

tw

o or

mor

e ro

bots

to

geth

er d

o?

Add

a fa

ce t

o th

e ro

bot,

mak

e it

Òspe

akÓ,

or d

ress

it u

p!GO F

ARTH

ER

YOU

NEED

An N

XT w

ith tw

o dr

ivin

g w

heel

s an

d an

ul

traso

nic

sens

or p

oint

ing

forw

ards

Rob

ot fo

llow

s yo

u ar

ound

and

w

ants

to b

e cl

ose,

but

not

too

clos

e!

Shy Puppy

http

://en

chan

ting.

robo

tclu

b.ab

.ca

8

Too far!

Too close!

Just righ

t!


Variables: Sketch:

Inputs:

Outputs:


- 18 -

Sparkline

In

, cho

ose

the

but

ton.

Con

Þgur

e a

light

or c

olou

r se

nsor

, cho

osin

g th

e on

e yo

u ha

ve.

GET

READ

Y

TRY

THIS

COD

E

YOU

NEED

An N

XT w

ith a

ligh

t or c

olou

r se

nsor

on

port

3.

Gra

ph a

cha

ngin

g va

lue.

Sparkline

http

://en

chan

ting.

robo

tclu

b.ab

.ca

9

Clic

k th

e t

o st

art.

M

ove

the

light

sen

sor

over

diff

eren

t co

lour

s an

d sh

ades

. M

ove

it cl

oser

and

fart

her f

rom

a

surf

ace.

Poi

nt it

at

a lig

ht.

Chan

ge

the

angl

e. W

hat

happ

ens?

DO I

T!W

hat

happ

ens

if yo

u ad

d in

the

aut

o-ca

libra

tion

bloc

ks?

Tr

y dr

awin

g a

whi

te li

ne o

n a

blac

k ba

ckgr

ound

. Ch

ange

the

lam

p co

lour

.

GO F

ARTH

ER

- 19 -

Sparkline

In

, cho

ose

the

but

ton.

Con

Þgur

e a

light

or c

olou

r se

nsor

, cho

osin

g th

e on

e yo

u ha

ve.

GET

READ

Y

TRY

THIS

COD

E

YOU

NEED

An N

XT w

ith a

ligh

t or c

olou

r se

nsor

on

port

3.

Gra

ph a

cha

ngin

g va

lue.

Sparkline

http

://en

chan

ting.

robo

tclu

b.ab

.ca

9

Clic

k th

e t

o st

art.

M

ove

the

light

sen

sor

over

diff

eren

t co

lour

s an

d sh

ades

. M

ove

it cl

oser

and

fart

her f

rom

a

surf

ace.

Poi

nt it

at

a lig

ht.

Chan

ge

the

angl

e. W

hat

happ

ens?

DO I

T!W

hat

happ

ens

if yo

u ad

d in

the

aut

o-ca

libra

tion

bloc

ks?

Tr

y dr

awin

g a

whi

te li

ne o

n a

blac

k ba

ckgr

ound

. Ch

ange

the

lam

p co

lour

.

GO F

ARTH

ER

Activ

ities

Atta

ch th

e lig

ht s

enso

r to

your

robo

t for

the

follo

win

g ac

tiviti

es.

The

light

sen

sor s

houl

d be

app

roxi

mat

ely

1 cm

from

the

surfa

ce

your

robo

t is

sitti

ng o

n.

Rem

embe

r tha

t you

will

need

to a

uto-

calib

rate

the

light

sen

sor a

s pa

rt of

you

r pro

gram

(see

Aut

o-C

alib

ratio

n).

So lo

ng a

s yo

u ru

n th

e au

to-c

alib

ratio

n ev

ery

time

the

prog

ram

st

arts

, you

r pro

gram

can

be

reus

ed in

diff

eren

t lig

htin

g co

nditi

ons

with

out m

odiÞ

catio

n!

1.Dr

ive

forw

ard

until

a b

lack

line

is d

etec

ted,

then

sto

p.2.

Driv

e fo

rwar

d un

til a

bla

ck li

ne is

det

ecte

d, th

en tu

rn a

roun

d an

d co

ntin

ue d

rivin

g (re

peat

beh

avio

ur c

ontin

uous

ly).

3.Dr

ive

quic

kly

whe

n ov

er a

brig

ht s

urfa

ce, s

low

ly w

hen

over

a

dark

sur

face

.4.

Driv

e fo

rwar

d, p

rint t

he b

right

ness

leve

l to

the

scre

en e

very

se

cond

(rep

eat b

ehav

iour

con

tinuo

usly

).Pi

azza

Disc

ussio

n &

Solu

tion

Ques

tion

For p

art 2

, wha

t sta

tem

ent w

ould

you

use

to d

ecid

e w

hen

the

robo

t sho

uld

turn

aro

und?

Piaz

za D

iscus

sion

& So

lutio

n

22

Activ

ities

& Qu

estio

nsAu

to-C

alibr

ation

Her

e’s

an e

xam

ple

of a

n au

to-c

alib

ratio

n te

chni

que

that

can

be

used

at t

he

star

t of a

pro

gram

:

The

“raw

” brig

htne

ss le

vel f

rom

the

LEG

O® L

ight

Sen

sor v

arie

s de

pend

ing

on

the

light

ing

cond

ition

s yo

u ar

e w

orki

ng w

ith. T

his

can

mak

e it

diffi

cult

to u

se

your

pro

gram

s in

diff

eren

t lig

htin

g co

nditi

ons,

for e

xam

ple

mov

ing

from

insi

de

to o

utsi

de.

Auto

-cal

ibra

tion

allo

ws

you

to s

how

the

robo

t the

diff

eren

t brig

htne

ss le

vels

it

can

expe

ct to

see

in it

s cu

rrent

con

ditio

ns. I

t will

then

tran

slat

e th

e ra

w

brig

htne

ss v

alue

s su

ch th

at th

e da

rkes

t are

a it

was

sho

wn

prod

uces

0, a

nd th

e br

ight

est p

rodu

ces

100.

All

the

shad

es in

bet

wee

n w

ill fa

ll so

mew

here

be

twee

n 0

and

100.

Figu

re 2

.1 A

uto-

Cal

ibra

tion

Exam

ple

PDF

Que

stio

n

Line

follo

win

g is

an

impo

rtant

par

t of y

our p

rogr

amm

ing

tool

box

whe

n us

ing

the

LEG

O® N

XT. I

t allo

ws

you

to c

reat

e pa

ths

thro

ugh

the

envi

ronm

ent f

or y

our r

obot

to fo

llow,

mea

ning

that

you

r rob

ot

can

perfo

rm ta

sks

that

requ

ire b

asic

nav

igat

ion.

The

re a

re m

any

diffe

rent

way

s of

cre

atin

g a

line

follo

wer

dep

endi

ng o

n ho

w m

any

light

sen

sors

you

hav

e av

aila

ble,

how

ever

in th

is a

ctiv

ity it

’s as

sum

ed th

at y

ou o

nly

have

one

.

Let’s

say

we

wan

t to

follo

w a

bla

ck li

ne, l

ike

the

one

pict

ured

ab

ove.

You

mig

ht th

ink

that

the

way

to a

chie

ve th

is w

ould

be

to

ensu

re th

at th

e ro

bot’s

ligh

t sen

sor i

s al

way

s di

rect

ly o

ver a

bla

ck

surfa

ce.

How

ever

, the

re’s

a pr

oble

m w

ith th

is s

trate

gy:

Piaz

za D

iscus

sion

The

solu

tion

is to

inst

ead

follo

w th

e ed

ge o

f the

bla

ck li

ne, r

athe

r th

an th

e lin

e its

elf.

Eith

er e

dge

is Þ

ne, w

eÕll

use

the

low

er e

dge

in

this

exa

mpl

e.

24

Activ

ities

& Qu

estio

ns

Figu

re 2

.2 F

ollo

win

g a

Blac

k Li

ne

Figu

re 2

.3 F

ollo

win

g th

e Ed

ge o

f a L

ine

Ques

tion

AW

hat h

appe

ns w

hen

we

dete

ct th

e w

hite

sur

face

?H

ow d

o w

e kn

ow if

we’

ve v

eere

d off

to th

e le

ft or

the

right

?

Reve

al so

lutio

n on

Piaz

za

Activ

ities

Atta

ch th

e lig

ht s

enso

r to

your

robo

t for

the

follo

win

g ac

tiviti

es.

The

light

sen

sor s

houl

d be

app

roxi

mat

ely

1 cm

from

the

surfa

ce

your

robo

t is

sitti

ng o

n.

Rem

embe

r tha

t you

will

need

to a

uto-

calib

rate

the

light

sen

sor a

s pa

rt of

you

r pro

gram

(see

Aut

o-C

alib

ratio

n).

So lo

ng a

s yo

u ru

n th

e au

to-c

alib

ratio

n ev

ery

time

the

prog

ram

st

arts

, you

r pro

gram

can

be

reus

ed in

diff

eren

t lig

htin

g co

nditi

ons

with

out m

odiÞ

catio

n!

1.Dr

ive

forw

ard

until

a b

lack

line

is d

etec

ted,

then

sto

p.2.

Driv

e fo

rwar

d un

til a

bla

ck li

ne is

det

ecte

d, th

en tu

rn a

roun

d an

d co

ntin

ue d

rivin

g (re

peat

beh

avio

ur c

ontin

uous

ly).

3.Dr

ive

quic

kly

whe

n ov

er a

brig

ht s

urfa

ce, s

low

ly w

hen

over

a

dark

sur

face

.4.

Driv

e fo

rwar

d, p

rint t

he b

right

ness

leve

l to

the

scre

en e

very

se

cond

(rep

eat b

ehav

iour

con

tinuo

usly

).Pi

azza

Disc

ussio

n &

Solu

tion

Ques

tion

For p

art 2

, wha

t sta

tem

ent w

ould

you

use

to d

ecid

e w

hen

the

robo

t sho

uld

turn

aro

und?

Piaz

za D

iscus

sion

& So

lutio

n

22

Activ

ities

& Qu

estio

nsAu

to-C

alibr

ation

Her

e’s

an e

xam

ple

of a

n au

to-c

alib

ratio

n te

chni

que

that

can

be

used

at t

he

star

t of a

pro

gram

:

The

“raw

” brig

htne

ss le

vel f

rom

the

LEG

O® L

ight

Sen

sor v

arie

s de

pend

ing

on

the

light

ing

cond

ition

s yo

u ar

e w

orki

ng w

ith. T

his

can

mak

e it

diffi

cult

to u

se

your

pro

gram

s in

diff

eren

t lig

htin

g co

nditi

ons,

for e

xam

ple

mov

ing

from

insi

de

to o

utsi

de.

Auto

-cal

ibra

tion

allo

ws

you

to s

how

the

robo

t the

diff

eren

t brig

htne

ss le

vels

it

can

expe

ct to

see

in it

s cu

rrent

con

ditio

ns. I

t will

then

tran

slat

e th

e ra

w

brig

htne

ss v

alue

s su

ch th

at th

e da

rkes

t are

a it

was

sho

wn

prod

uces

0, a

nd th

e br

ight

est p

rodu

ces

100.

All

the

shad

es in

bet

wee

n w

ill fa

ll so

mew

here

be

twee

n 0

and

100.

Figu

re 2

.1 A

uto-

Cal

ibra

tion

Exam

ple

PDF

Que

stio

n

Line

follo

win

g is

an

impo

rtant

par

t of y

our p

rogr

amm

ing

tool

box

whe

n us

ing

the

LEG

O® N

XT. I

t allo

ws

you

to c

reat

e pa

ths

thro

ugh

the

envi

ronm

ent f

or y

our r

obot

to fo

llow,

mea

ning

that

you

r rob

ot

can

perfo

rm ta

sks

that

requ

ire b

asic

nav

igat

ion.

The

re a

re m

any

diffe

rent

way

s of

cre

atin

g a

line

follo

wer

dep

endi

ng o

n ho

w m

any

light

sen

sors

you

hav

e av

aila

ble,

how

ever

in th

is a

ctiv

ity it

’s as

sum

ed th

at y

ou o

nly

have

one

.

Let’s

say

we

wan

t to

follo

w a

bla

ck li

ne, l

ike

the

one

pict

ured

ab

ove.

You

mig

ht th

ink

that

the

way

to a

chie

ve th

is w

ould

be

to

ensu

re th

at th

e ro

bot’s

ligh

t sen

sor i

s al

way

s di

rect

ly o

ver a

bla

ck

surfa

ce.

How

ever

, the

re’s

a pr

oble

m w

ith th

is s

trate

gy:

Piaz

za D

iscus

sion

The

solu

tion

is to

inst

ead

follo

w th

e ed

ge o

f the

bla

ck li

ne, r

athe

r th

an th

e lin

e its

elf.

Eith

er e

dge

is Þ

ne, w

eÕll

use

the

low

er e

dge

in

this

exa

mpl

e.

24

Activ

ities

& Qu

estio

ns

Figu

re 2

.2 F

ollo

win

g a

Blac

k Li

ne

Figu

re 2

.3 F

ollo

win

g th

e Ed

ge o

f a L

ine

Ques

tion

AW

hat h

appe

ns w

hen

we

dete

ct th

e w

hite

sur

face

?H

ow d

o w

e kn

ow if

we’

ve v

eere

d off

to th

e le

ft or

the

right

?

Reve

al so

lutio

n on

Piaz

za

Line

follo

win

g is

an

impo

rtant

par

t of y

our p

rogr

amm

ing

tool

box

whe

n us

ing

the

LEG

O® N

XT. I

t allo

ws

you

to c

reat

e pa

ths

thro

ugh

the

envi

ronm

ent f

or y

our r

obot

to fo

llow,

mea

ning

that

you

r rob

ot

can

perfo

rm ta

sks

that

requ

ire b

asic

nav

igat

ion.

The

re a

re m

any

diffe

rent

way

s of

cre

atin

g a

line

follo

wer

dep

endi

ng o

n ho

w m

any

light

sen

sors

you

hav

e av

aila

ble,

how

ever

in th

is a

ctiv

ity it

’s as

sum

ed th

at y

ou o

nly

have

one

.

Let’s

say

we

wan

t to

follo

w a

bla

ck li

ne, l

ike

the

one

pict

ured

ab

ove.

You

mig

ht th

ink

that

the

way

to a

chie

ve th

is w

ould

be

to

ensu

re th

at th

e ro

bot’s

ligh

t sen

sor i

s al

way

s di

rect

ly o

ver a

bla

ck

surfa

ce.

How

ever

, the

re’s

a pr

oble

m w

ith th

is s

trate

gy:

Piaz

za D

iscus

sion

The

solu

tion

is to

inst

ead

follo

w th

e ed

ge o

f the

bla

ck li

ne, r

athe

r th

an th

e lin

e its

elf.

Eith

er e

dge

is Þ

ne, w

eÕll

use

the

low

er e

dge

in

this

exa

mpl

e.

24

Activ

ities

& Qu

estio

ns

Figu

re 2

.2 F

ollo

win

g a

Blac

k Li

ne

Figu

re 2

.3 F

ollo

win

g th

e Ed

ge o

f a L

ine

Ques

tion

AW

hat h

appe

ns w

hen

we

dete

ct th

e w

hite

sur

face

?H

ow d

o w

e kn

ow if

we’

ve v

eere

d off

to th

e le

ft or

the

right

?

Reve

al so

lutio

n on

Piaz

za

- 20 -

Follow That Line!

➔

as

on C

ard

#4.

➔

. Co

nÞgu

re a

nd n

ame

a lig

ht o

r col

our s

enso

r, ch

oosin

g th

e ty

pe t

hat

mat

ches

you

r sen

sor.

Clic

k th

e a

nd w

ait

for t

he p

rogr

am t

o ru

n.

Unpl

ug t

he U

SB c

able

, pla

ce

the

robo

t on

or b

esid

e a

line,

an

d pr

ess

the

oran

ge Ò

ente

rÓ

butt

on o

n th

e NX

T.

Pres

s th

e da

rk g

rey

Òexi

tÓ

butt

on t

o st

op t

he ro

bot.

GET

READ

Y

TRY

THIS

COD

EDO

IT!

Wha

t ha

ppen

s if

you

adju

st t

he n

umbe

rs?

Do

es t

he li

ne-f

ollo

win

g co

urse

m

ake

a di

ffer

ence

? C

an y

ou

follo

w t

he e

dge

of a

tab

le?

W

here

is t

he b

est

plac

e to

put

yo

ur li

ght

sens

or?

Wha

t w

ould

you

do

with

a s

econ

d or

th

ird s

enso

r? D

raw

eye

s an

d m

ake

them

look

left

and

righ

t!

GO F

ARTH

ER

YOU

NEED

An N

XT w

ith tw

o dr

ivin

g w

heel

s an

d a

light

/col

our s

enso

r poi

ntin

g do

wnw

ards

.

Follo

w a

line

aro

und.

Follow That Line!

http

://en

chan

ting.

robo

tclu

b.ab

.ca

10

- 21 -

Follow That Line!

➔

as

on C

ard

#4.

➔

. Co

nÞgu

re a

nd n

ame

a lig

ht o

r col

our s

enso

r, ch

oosin

g th

e ty

pe t

hat

mat

ches

you

r sen

sor.

Clic

k th

e a

nd w

ait

for t

he p

rogr

am t

o ru

n.

Unpl

ug t

he U

SB c

able

, pla

ce

the

robo

t on

or b

esid

e a

line,

an

d pr

ess

the

oran

ge Ò

ente

rÓ

butt

on o

n th

e NX

T.

Pres

s th

e da

rk g

rey

Òexi

tÓ

butt

on t

o st

op t

he ro

bot.

GET

READ

Y

TRY

THIS

COD

EDO

IT!

Wha

t ha

ppen

s if

you

adju

st t

he n

umbe

rs?

Do

es t

he li

ne-f

ollo

win

g co

urse

m

ake

a di

ffer

ence

? C

an y

ou

follo

w t

he e

dge

of a

tab

le?

W

here

is t

he b

est

plac

e to

put

yo

ur li

ght

sens

or?

Wha

t w

ould

you

do

with

a s

econ

d or

th

ird s

enso

r? D

raw

eye

s an

d m

ake

them

look

left

and

righ

t!

GO F

ARTH

ER

YOU

NEED

An N

XT w

ith tw

o dr

ivin

g w

heel

s an

d a

light

/col

our s

enso

r poi

ntin

g do

wnw

ards

.

Follo

w a

line

aro

und.

Follow That Line!

http

://en

chan

ting.

robo

tclu

b.ab

.ca

10


Variables: Sketch:

Inputs:

Outputs:


- 22 -

Sumo

➔

as

on

Card

#5.

➔

. Co

nÞgu

re

an u

ltras

onic

sen

sor a

nd a

ligh

t/co

lour

se

nsor

.

Crea

te a

bun

ch o

f cos

tum

es fo

r you

r spr

ite,

usin

g th

e te

xt t

ool t

o di

spla

y th

e fo

llow

ing

wor

ds in

larg

e le

tter

s, Ò

Coun

tdow

nÓ,

ÒWan

derÓ

, ÒAt

tack

Ó, Ò

Retr

eatÓ

and

ÒPr

ess

Butt

on t

o St

artÓ

.

➔

. Cr

eate

va

riabl

es n

amed

Òne

xt a

ctio

nÓ, Ò

foe

ahea

dÓ,

and

Òsee

s ed

geÓ.

YOU

NEED

Each

com

petit

or n

eeds

an

NXT

with

two

driv

ing

whe

els,

an

ultra

soni

c se

nsor

, and

a

light

or c

olou

r sen

sor.

Push

you

r opp

onen

t out

of a

ring

.

Sumo

http

://en

chan

ting.

robo

tclu

b.ab

.ca

12A

Trig

ger

Beha

viou

r

Sees

edg

eR

etre

at

Foe

ahea

dAt

tack

Wan

der

ArbiterGE

T RE

ADY

THE

PLAN

If it

has

noth

ing

bett

er t

o do

, th

e ro

bot

wan

ders

aro

und.

If

it se

es a

foe

ahea

d of

it, t

he

robo

t at

tack

s, t

ryin

g to

pus

h th

e en

emy

out

of t

he ri

ng.

Mos

t im

port

antly

, if i

t se

es

the

edge

, the

robo

t re

trea

ts

from

it, i

n an

eff

ort

to s

tay

in

the

ring.

(card 1 of 2)

- 23 -

Sumo

➔

as

on

Card

#5.

➔

. Co

nÞgu

re

an u

ltras

onic

sen

sor a

nd a

ligh

t/co

lour

se

nsor

.

Crea

te a

bun

ch o

f cos

tum

es fo

r you

r spr

ite,

usin

g th

e te

xt t

ool t

o di

spla

y th

e fo

llow

ing

wor

ds in

larg

e le

tter

s, Ò

Coun

tdow

nÓ,

ÒWan

derÓ

, ÒAt

tack

Ó, Ò

Retr

eatÓ

and

ÒPr

ess

Butt

on t

o St

artÓ

.

➔

. Cr

eate

va

riabl

es n

amed

Òne

xt a

ctio

nÓ, Ò

foe

ahea

dÓ,

and

Òsee

s ed

geÓ.

YOU

NEED

Each

com

petit

or n

eeds

an

NXT

with

two

driv

ing

whe

els,

an

ultra

soni

c se

nsor

, and

a

light

or c

olou

r sen

sor.

Push

you

r opp

onen

t out

of a

ring

.

Sumo

http

://en

chan

ting.

robo

tclu

b.ab

.ca

12A

Trig

ger

Beha

viou

r

Sees

edg

eR

etre

at

Foe

ahea

dAt

tack

Wan

der

Arbiter

GET

READ

Y

THE

PLAN

If it

has

noth

ing

bett

er t

o do

, th

e ro

bot

wan

ders

aro

und.

If

it se

es a

foe

ahea

d of

it, t

he

robo

t at

tack

s, t

ryin

g to

pus

h th

e en

emy

out

of t

he ri

ng.

Mos

t im

port

antly

, if i

t se

es

the

edge

, the

robo

t re

trea

ts

from

it, i

n an

eff

ort

to s

tay

in

the

ring.

(card 1 of 2)

Sumo

Clic

k th

e a

nd w

ait

for t

he p

rogr

am

to ru

n.

Unpl

ug t

he U

SB c

able

and

pl

ace

the

robo

t on

the

sum

o bo

ard.

Whe

n yo

u ar

e to

ld t

o st

art

your

robo

t, pr

ess

the

oran

ge “

ente

r” b

utto

n on

the

NX

T.

DO I

T!

Can

you

add

othe

r beh

avio

urs

to t

he ro

bot,

or c

hang

e so

me

of t

he e

xist

ing

ones

? W

hat

coul

d yo

u do

to

mak

e yo

ur

sum

o ro

bot

bett

er?

Wou

ld t

his

met

hod

of

prog

ram

min

g w

ork

for o

ther

ro

bots

?

GO F

ARTH

ER

➔

. Y

ou’ll

mak

e bl

ocks

cal

led

“Att

ack”

, “Re

trea

t”,

“Wan

der”

, and

“St

artu

p”.

TRY

THIS

COD

E

http

://en

chan

ting.

robo

tclu

b.ab

.ca

12B

DO I

T!

(card 2 of 2)

- 24 -


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Outputs:


- 25 -


Variables: Sketch:

Inputs:

Outputs:


- 26 -


Variables: Sketch:

Inputs:

Outputs:


- 27 -


Variables: Sketch:

Inputs:

Outputs:


- 28 -

My favorite “Discovery” (can be an “ah-ha”, or something that went right or wrong):

Something I learned today:

Tomorrow I would like to try:

- 29 -




- 30 -




- 31 -




- 32 -




robot revolution - smith learning · scratch planning sheet what should the program do: variables:...

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