Thursday, April 11, 2013

Pico Blocks Day 4

So Friday we just continued  the list of stuff we were assigned Wednesday. 

We revisited the program in which the car drives forward when the delrin is over 15 and moves backward when it is less than 15 away but this time using proportional control. 




Counter for motor A



Here we are working on getting motor A to always be set to 50 using bang-bang control. This one would over shoot and end up twitching. 



Here we are working on getting motor A to always be set to 50 using proportional control. This way when it nears 50 it will stop completely. 




Testing with different values, and it still works!

Then we tried getting one wheel to follow the other. Here wheel B is following wheel A



This the final version. It is essentially the same as the code above but without the waituntil's because picoblocks don't like waiting. 


Going a certain distance by counting the ticks around the wheel



Same thing but with a sensor that must read greater than 15


Driving in a straight line

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