Page 286 · Robotics with the Boe-Bot
You can adjust the set points and proportionality constants to change the shadow Boe-
Bot’s behavior. Use your hand or a piece of paper to lead the shadow Boe-Bot while
doing these exercises:
√ Try running FollowingBoeBot.bs2 using values of
Kpr and Kpl constants,
ranging from 15 to 50. Note the difference in how responsive the Boe-Bot is
when following an object.
√ Try making adjustments to the value of the
SetPoint constant. Try values from
0 to 4.
ACTIVITY #3: FOLLOWING A STRIPE
Figure 8-7 shows an example of a course you can build and program your Boe-Bot to
follow. Each stripe in this course is three long pieces of ¾ in (19 mm) vinyl electrical
tape placed edge to edge on white poster board. No paper should be visible between the
strips of electrical tape.
28” (71 cm)
22” (56 cm)
www.stampsinclass.com
Reset
S
T
A
M
P
S
C
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in
Board of Education
Pwr
9 Vdc
Battery
6-9VDC
Sout
Sin
ATN
Vss
P0
P1
P2
P3
P4
P5
P6
P7
P11
P9
P8
Vin
P10
P15
P14
P13
P12
Vdd
Rst
Vss
Bla c k
Red
X4 X5
15 14 13 12
1
X1
Vss
P1
P3
P5
P7
P9
P11
P13
P15
Vin
Vss
P0
P2
P4
P6
P8
P10
P12
P14
Vdd
U1
TM
0 1 2
© 2000-2 003
Vdd
P15
P14
P13
P12
P11
P10
P9
P8
P7
P6
P5
P4
P3
P2
P1
P0
X2
X3
Vdd VssVin
P15
P14
P13
P12
P11
P10
P9
P8
P4
P2
P1
P0
P7
P6
P5
P3
X2
X3
Vdd VssVin
Rev C
+
www.s tam ps in cl a ss. c om
Reset
S
T
A
M
P
S
C
L
A
S
S
i
n
Board of Education
Pwr
9 Vd c
Battery
6-9V DC
Sout
Sin
ATN
Vss
P0
P1
P2
P3
P4
P5
P6
P7
P11
P9
P8
Vin
P10
P15
P14
P13
P12
Vdd
Rst
Vss
Black
Red
X4 X5
15 14 13 12
1
X1
Vss
P1
P3
P5
P7
P9
P11
P13
P15
Vin
Vs s
P0
P2
P4
P6
P8
P1 0
P1 2
P1 4
Vd d
U1
TM
0 1 2
© 200 0-200 3
Vdd
P15
P14
P13
P12
P11
P10
P9
P8
P7
P6
P5
P4
P3
P2
P1
P0
X2
X3
Vdd VssVin
P1 5
P1 4
P1 3
P1 2
P1 1
P1 0
P9
P8
P4
P2
P1
P0
P7
P6
P5
P3
X2
X3
Vdd VssVin
Rev C
+
Start
Finish
Figure 8-7
Stripe
Following
Course
Building and Testing the Course
For successful navigation of this course, some testing and Boe-Bot adjustment will be
required.
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