didIGetIt?

didIGetIt?

Using gripperPosition we can determine if mimicArm has grabbed a block or not.  A gripper position value high enough indicates that mimicArm has a block, so it will move the block to the bucket.  This example illustrates simple decisions without external sensors.

Commands Used

robotGrab(x);
gripperMove(x);
gripperPosition();
robotMove(x,y);
if(conditional)
else delay(x);

Download didIGetIt.ino for Arduino

Download didIGetIt.abp for mimicBlock

Cut and paste code:

#include <robot.h>

void setup() {
  // put your setup code here, to run once:
  robotActivate();
  delay(2000);
}

void loop() {
  gripperMove(100);  //set the gripper to slightly opened
  robotMove(1, 127); //move to start postiion
  robotMove(2, 127); //move to start position
  robotMove(3, 150); //move to start position
  robotGrab(0);      //turn off gripper motor
  robotGrab(-75);   //open the gripper some
  delay(500);       //wait for gripper to open

  robotGrab(100);  //grab the block
  delay(2000);     //wait for gripper to move
  if (gripperPosition() < 30) {  //if gripper position is below 30 it didn't get the block.  Start over.
    robotGrab(0);
    gripperMove(100);
    delay(2000);
  }
  else {  //We got the block, now move it to the bucket.
    robotMove(2, 127);
    delay(100);
    robotMove(1, 255);
    delay(1000);
    delay(1000);
    robotGrab(0);
    gripperMove(100);
    delay(2000);
    robotMove(2, 127);
    delay(1000);
  }
}