Chapter 4: Boe-Bot Navigation · Page 129
PULSOUT 13, 850
PULSOUT 12, 750
These are the PULSOUT commands for pivoting backwards and to the right.
PULSOUT 13, 650
PULSOUT 12, 750
Finally, these are the PULSOUT commands for pivoting backwards and to the left.
PULSOUT 13, 750
PULSOUT 12, 850
√ Save ForwardLeftRightBackward.bs2 as PivotTests.bs2.
√ Substitute the
PULSOUT commands just discussed in place of the forward, left,
right, and backward routines.
√ Adjust the run time of each maneuver by changing each
FOR…NEXT loop’s
EndValue to 30.
√ Be sure to change the comment next to each
FOR…NEXT loop to reflect each new
pivot action.
√ Run the modified program and verify that the different pivot actions work.
ACTIVITY #2: TUNING THE BASIC MANEUVERS
Imagine writing a program that instructs the Boe-Bot to travel full-speed forward for
fifteen seconds. What if the Boe-Bot curves slightly to the left or right during its travel,
when it’s supposed to be traveling straight ahead? There’s no need to take the Boe-Bot
back apart and re-adjust the servos with a screwdriver to fix this. You can simply adjust
the program slightly to get both Boe-Bot wheels traveling the same speed. While the
screwdriver approach would be called a “hardware adjustment”, the programming
approach is called a “software adjustment”.
Straightening the Boe-Bot’s Path
The first step is to examine your Boe-Bot’s travel for long enough to find out if it’s
curving either to the left or to the right when it’s supposed to be going straight ahead.
Ten seconds of forward travel should be enough. This can be accomplished with a
simple modification to BoeBotForwardThreeSeconds.bs2 from the previous activity.
Example Program: BoeBotForwardTenSeconds.bs2
√ Open BoeBotForwardThreeSeconds.bs2.
√ Rename and save it as BoeBotForwardTenSeconds.bs2.
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