ER1 User Guide 9-7
Motion Tab
• To ward Color - This parameter specifies the maximum linear velocity to use when
traveling towards a color. The default value is 20.
• Toward Object - If set, this parameter allows you to set the maximum linear
velocity to use when traveling towards an object. The default value is 20.
Motor Power
The Motor Power options let you specify the percentage of full power that the robot
should use under the following conditions:
• Stopped – When the robot is not moving, there is no reason for the robot’s motor to
be powered. It causes the battery to drain faster, and makes noise. The default value
for this option is 0%. However, if the robot could stop on a sloped surface, then it
will need power to stay in place. In this case, the stop power should be set to greater
than zero.
• Moving –The robot does not need 100% power to perform most activities. It would
only need full power if it had to travel up a steep incline or if the robot is traveling
over a high friction surface, such as a shag rug. Leaving this value at the 60%
default should provide adequate power for all other instances. Remember, the less
power you’re using, the longer the robot’s battery charge will last. However, too
little power and the robot will not move reliably.
Detect Collisions
The Enable collision detection checkbox lets you toggle collision detection capabilities
on and off. When collision detection is turned off, the ER1 will move without checking to
see if it has bumped into any objects. When collision detection is turned on, the ER1 will
use the camera's video feed to determine if the robot has collided with some object. In that
case, the ER1 responds by stopping and backing up a short distance before continuing on
its intended path. This option is set to off by default.
The Sensitivity field below the collision detection checkbox determines how tolerant the
ER1 will be to potential collision situations. The higher the sensitivity number, the more
readily the ER1 will detect collisions. (Conversely, the lower the number, the fewer
collisions it will detect.) You may need to tailor the sensitivity value to work best in the
environment that the ER1 is currently in. Keep in mind, however, that too high a
Sensitivity will result in false collisions being detected. On the other hand, too low a
Sensitivity will cause the ER1 not to detect actual collisions. (The default value is 50;
start with this and adjust accordingly for your environment.)
An important collision detection behavior occurs when all that the ER1 can sees is a
featureless object, such as a blank wall. In this case, the ER1 stops, because it is most
likely very close to the object, and therefore should stop moving towards it.
This behavior can be incorrectly diagnosed as a problem with the robot's motors, but if
you reorient the robot so that the camera's view is of a non-featureless environment, it
should continue its movement. If the robot still doesn't move, temporarily disable collision
detection, and restart the robot's behavior. The robot should move correctly. If it does not,
you should experiment with adjusting the robot's collision detection sensitivity so that it
will work correctly in your environment. (In rare instances of extremely featureless
environments, collision detection cannot be adjusted to work properly.)
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