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Group3WaitAngleCommandTo go back click here --> Lab1GarciaMeslerVuWebster How accuate is the wait angle command? What angle is being measured? DRAW A DIAGRAM to help describe the results of your exploration. How do you think the Create senses this angle? we wondered... Is there a diffrence between wait angle using the drive command and wait angle using the drive direct command? How does the Create know the radius of a turn for the drive direct, so it can calculate angles? Is there a mathematical way to figure out the radius of a turn using drive direct? What happens when the robot is turning in different directions? What if you use an imput of over 360 degrees? Also, what happens when you use a wait angle while driving straight? hypothesis Our hypothesis is that the vertex of the angle measured by the wait angle command will be the center of the circle created by the turn, and that the initial and terminal points will be measured at the center of the robot. I think that the robot will be able to measure the wait angle for both the drive and the drive direct command. Test One Using the wait angle with the drive opcode we...
opcode to drive at 200 mm/sec in a circle with a radius of 200 mm: 137 0 200 0 200 result it went great! create script where drives, with a wait angle of 90 degrees: 152 8 137 0 200 0 200 157 0 90 result I couldn't figure out why this wasn't working! It turns out that the drive doesn't just stop after 90 degrees, which confused my for a while. I hypothosized that maybe it just plays an event after 90 degrees while it keeps driving. I tested this by creating the opcode 152 10 137 0 200 0 200 157 0 90 141 1 which played a song I had already written. I was correct! The robot beeped while it kept drivng. now, I still need to measure the angle... is there any easy way to make the robot just stop moving? yes! This is an opcode with a wait angle and then a drive command with a velocity of zero. 152 10 137 0 200 0 200 157 0 90 137 0 0 0 200 Test Two Using the wait angle with an angle greater than 360 degrees we...
opcode create script where drives, with a wait angle of 540 degrees (360+180) 152 8 137 0 200 0 200 157 2 28 Test Three Using the wait angle with the drive direct command we... First researched the mathematical relationship between the speed of the two wheels and the radius of the turn created by the robot!! woot! haha this is a secret. wait until the lab is due to figure out my superduper math |