tinyBotPlaceBlock
tinyBotSetDown
tinyBotSetDown causes tinyBot to interact with her human to gently place a block on the floor. This experiment requires the user to find just the right position for channel 3 to place the block. It's not as simple as just copying the text this time! Positive numbers close the gripper, negative numbers open it. Like moving servos fast, the robotGrab command requires a dely.
Commands used:
robotMove(<channel>,<position>)
robotGrab(<force>)
delay(<time>)
What We Learn:
Sometimes we need to tune our robots to their environment. In this experiment each robot may have a slightly different channel 3 position to release the block, depending on robot setup and the surface it's sitting on.
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Instructions:
Download the program images HERE or click the images below. The file includes both the mimicBlock and Arduino versions of the tinyBotWave program. Copy the program using your computer, then upload it onto tinyBot. Does your robot move like the robot in the GIF at the top of the page?
Download Files:
Don't feel like copying the files? Download the complete program here.
Download tinyBotSetDown.ino for Arduino
Download tinyBotSetDown.adp for mimicBlock
Cut and paste code:
#include <robot.h>
void setup() {
// put your setup code here, to run once:
robotActivate();
}
void loop() {
// put your main code here, to run repeatedly
//Move robot to HOME position
robotMove(2,127);
robotMove(3,127);
delay(5000); //this command waits for 5000 milliseconds, which is the same as 5 seconds.
robotGrab(100); //The higher the number, the harder the robot grabs. 127 is the maximum
delay(2000); //let's wait 2000 milliseconds (2 seconds) to make sure the robot has a good grip
robotMove(2,75);
//This next step is incomplete. You need to add your channel three position
robotMove(3,??? ); //<--- PUT YOUR CHANNEL 3 POSITION HERE
//Good job!
robotGrab(-100); //the negative number will open the gripper
delay(1000);
robotGrab(0); //we need to turn off the gripper by resting to zero. That keeps it from wearing out.
}