Bump Around

Programming

Bump Around Walls for Touch Sensor

Challenge Program the robot using a Touch Sensor.

Rules 1. Robot must start behind the start line. 2. Robot must use a Touch Sensor to travel around the circle. 3. Robot must end at home base. 1. Place your pseudocode here. If you need more room, use the back of this paper. 2. Draw your flowchart on the back of this paper.

Starting Line

Home Base

NAME

DATE

6.47

©2005 Robomatter Inc. RE 2.5_RW 1.1

Programming Teacher

Bump Around / Flowchart Flowchart Start

Forward

Forward

No

No

TS = 1

TS = 1

Yes

Yes

Stop robot

Stop robot

Reverse for time

Reverse for time

Stop robot

Stop robot

Turn 90 degrees

Turn 90 degrees

Forward for time

LEGEND

Stop robot

Forward Motor A forward, Motor C forward TS = 1 Touch Sensor is pressed Stop robot Motor A off, Motor C off Reverse Motor A reverse, Motor C reverse Turn 90 degrees Motor A reverse, Motor C forward Forward (reverse) for time After clearing and starting the timer, robot goes forward (or reverse) until timer exceeds the necessary time.

©2005 Robomatter Inc. RE 2.5_RW 1.1

End

Note: The purpose of “Reverse for Time” is so that the Touch Sensor button will clear the wall when the robot turns.

6.48

Teacher Programming

Bump Around / Pseudocode Pseudocode • • • • • • • •

Move forward until the Touch Sensor is pressed. Once the Touch Sensor is pressed, back up to give the robot room to turn. Have the robot make a 90 degree turn. Avoid hitting the center obstacle. Move forward until the Touch Sensor is pressed. Once the Touch Sensor is pressed, back up to give the robot room to turn. Have the robot make a 90 degree turn. Avoid hitting the center obstacle. Move forward until the robot is inside the home base. Stop all motors.

6.49

©2005 Robomatter Inc. RE 2.5_RW 1.1