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Thinh's Lab 4 Wimp ModeLab 4 Wimp Mode
The saying “simplicity is complicated” was definitely made in order to refer to wimp mode. A seemingly simple mode consisted of loop after loop and required intensive observation. This mode made use of the Create’s internal sensors, most notably its odometers with regards to angle and distance. There were several conditions that had to be checked for each loop of the Create including whether it was safe, a certain distance or angle was reached, and whether a bumper was hit. The very accurate and intentional placements of resets as well as Create updates were integral to the success of the mode. The wimp mode really makes one think how the Create views the programs one inputs. With regards to troubleshooting, there was a problem with the Create not fully stopping due to its sensitivity. A delay had to be added because the momentum from stopping abruptly was still affecting the loops after 60cm. Furthermore, the use of negative angles proved futile during “cr8->angle”. Therefore, the angle had to be forced set at 180 to counterbalance. Ultimately, programming the wimp mode was a bittersweet window into the world of the average computer programmer. Click here for the Flow Chart Δ Click here for the code (main.c) file! Δ
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