Worksheet: Right Face

Introduction to Mobile Robotics > Right Face

Follow the steps in the online directions, and answer the questions at the appropriate times.

Construct

Observations:

1. What happened when you ran the program? The robot turned to the right just as we programmed it to. 2. Which motor(s) spun? Motor C turned the right wheel that made the robot go anti clockwise. 3. What direction did each motor spin? Motor B didnt move at all and motor C turned forwards. 4. Did the robots body turn to its left or its right? The robot turned its body left. 5. About how much did the robots body turn, relative to a full turn? The robot did a 180 degree spin. 6. This behaviour is called a swing turn. Around what point does the robot swing? It swung at the It swung at the right side or the point where the left wheel was placed. Contemplate

7. Write a brief one or two sentence description of what each icon in the program Swing Turn does.

Block 1 made the right motor run to turn the right wheel forward. Block 2 made the left wheel stay still. Block 3 made the wheel turn 720 degrees

forward. Block 4 stopped motor C at 720 degrees. Block 5 stopped motor B from turning the wheel.

8. The robot started at position A on the diagram shown here. It then turned in place until it reached position B.

i.

Suppose the robot turned to its left to reach position B. What fraction of a full turn did it make to get from A to B? It would turn a 270 degree rotation.

ii.

Suppose the robot turned to its right to reach position B. What fraction of a full turn did it make to get from A to B? It would turn a 90 degree rotation.

9. Consider the effects of some additional factors. i. How do you think different wheels will affect the robots ability to turn? Does it matter? The robot will still go forward but will veer to one side. ii. Does the surface on which the robot is turning matter? Yes it matters, it needs to be smooth surface otherwise it would be hard for the wheels to turn.

10. The robot in the given program turned right by moving its left wheel forward while holding its right wheel stationary. i. Could you also turn right by holding the left wheel stationary and running the right wheel in reverse? Yes because you are still making the robot face the right. ii. Write the program to make the robot do the backward right turn proposed in part (i).

Continue: Left Turn

Answer the following:

11. What program blocks are different between the left turn and original right turn behaviours? The first two blocks because you can change which direction the wheel spins. 12. Could a left turn also be done with the backward-moving wheel idea from question 10? Program your robot to make the backward-left turn.

Continue Point Turn

Answer the following:

13. Describe the difference between the motion of a swing turn and a point turn. The differences are that a point turn keeps the robots body in the same place while the wheels are moving around it and it also turns the robot around. The swing turn makes it turn left or right. 14. Describe a situation where: i. A swing turn is more useful than a point turn. When wanting to put the robot to face the other way. ii. A point turn is more useful than a swing turn. When wanting to turn the robot left or right.