KTH-KISTA. [Robot] [Labb Raport] Alfred Ndossi [8:30:2012] E-post : ndossi@kth.se. Introduktionskurs i datateknik (H12) II1310

Transcription

1 KTH-KISTA [Robot] [Labb Raport] Alfred Ndossi [8:30:2012] E-post : ndossi@kth.se Introduktionskurs i datateknik (H12) II1310

2 Sammanfattning As I had missed the Robot Lecture I had it tough getting started. My partner had the same problem I had but together we had to skim through the PDF files till we got it together. Having a programming background helped us to find most of the code errors and so we changed them. The code was basic even if it seemed complicated. By reviewing it carefully and in a slow tempo one could easily notice the errors and the codes that never needed to be present in the form. EX: the Dance code. Kista KTH Sida 2 av 7

3 Innehållsförteckning 1. Inledning Bakgrund Syfte och målsättning Genomförande Resultat Analys Diskussion... 6 Referenser... 7 Bilagor... Error! Bookmark not defined. Kista KTH Sida 3 av 7

4 1. Inledning In this lab we had to make sure that we find the code errors and change them in order to make sure that our robot followed the black line. Using the program provided and the notes for the past lecture we had to make sure that the robot printed both of our names we the goal was reached. 1.1 Bakgrund Coding and testing a project is a plus for any student reading this course. As we may face these problems in the future a student is to be able to follow the criteria s needed and stay on course during the lab. A lab is very important to any programmer because there you get to test your work and correct the errors. So understanding the code, testing it and later reviewing is the key to what makes a good programmer and what every student reading this special subject is supposed to be able to do. 1.2 Syfte och målsättning In the lab we got to put our hands in the coding program and our robots, all we had to do was to find the errors and correct them. This was good because the best way in learning is through practice. It s easy to see a math problem but the only way to learn and remember is by practicing it daily. Writing a report is good because there you get to review your work in words and proof how you got your results and how you worked. In a report you can show your individual work and your thought and again the way you came to your result. A lab report gives you a chance to show your conclusions and solutions and the parts the teacher missed during the lab. 2. Genomförande After I got my partner and got our robot we had absolute zero idea on where to start and what to do. As I mentioned before my partner and I had missed the robot lecture so we had to skim the PDF we found in the course website. Luckily we both had a programming background so understanding the code wasn t a problem. After installing the drivers and the program as instructed we asked for help and got started with the program -First we programmed our robot with the basic code given and went for a test drive. Our robot didn t make the line and was out of control so we went back and started to look at the code to see the errors and adjust them. Kista KTH Sida 4 av 7

5 - Adjusting the speed and the small errors we found we went back again for a run test and our robot started showing life. -My partner and I switched and he did the last corrections and we went and did our last run test and the robot made it all the way and followed the line slowly but safely and both of our names were visible on the display. 3. Resultat NR Old Code New Code Comments 2-3 #define SpeedSlow #define SpeedFast 100 string groupmembers[] = "person1" 41 TextOut(0, LCD_LINE1, "Gruppmedlemmar:"); 43 for(i = 0; i < ArrayLen(names); 45 TextOut(0, (LCD_LINE2 - (8*i-16)), names[i]); 68 lightintensity = SensorRaw(IN_1); #define SpeedSlow 30 #define SpeedFast 50 string groupmembers[] = "Alfred","Armin" TextOut(0, LCD_LINE1, "groupmembers"); for(i = 0; i < ArrayLen(groupMembers); TextOut(0, (LCD_LINE2 - (8*i)), groupmembers[i]); lightintensity = SensorRaw(IN_3); We had to reduce the engine speed for the robot to stay in line and for the sensor to have time to think. We filled our names and used (,) to define both of our names The variable was defined as Gruppmedlemmar but the input was to be groupmembers The variable was defined to names but the real input was to be groupmembers The initial -16 give a negative loop which is an error The variable names was defined wrong the input was to be groupmembers The input cable was in the 3 jack not the first if(lightintensity < TopThreshold) OnFwd(OUT_A, SpeedSlow); } else if(lightintensity < TopThreshold) OnFwd(OUT_A, SpeedSlow); } else OnFwd(OUT_A, SpeedFast); LightIntensity speed had to be divided equally to both ends. Kista KTH Sida 5 av 7

6 OnFwd(OUT_A, SpeedSlow); if(lightintensity > BotThreshold) OnFwd(OUT_B, SpeedFast); } else if(lightintensity > BotThreshold) OnFwd(OUT_B, SpeedSlow); } else OnFwd(OUT_B, SpeedFast); The same thing here OnFwd(OUT_B, SpeedFast); void dance() Deleted This variable had nothing to do with the code. OnFwd(OUT_A, 87); OnFwd(OUT_B, 20); Wait(SEC_3); } 114 dance(); Deleted This variable had nothing to do with the line following code 4. Analys Finally after adjusting the code we got our robot working and following the line. Adjusting the speed to a lower grade made our robot have time to sense the line. Adjusting the light sensor with both slow and fast speed gave it a balance that made it easy while reading the line. Everything in the lab was perfect nothing went that wrong than the code itself something that we corrected. 5. Diskussion In this lab I learned a lot. Not just the program but how to easily code a robot. While correcting the code it was good that you could find different codes in the map that had nothing to do with the robot. Looking through the code and understanding it made one feel good and one s knowledge was seen. The lab helped to fresh up our brains because it was a while ago we had our hands on a programming program. The program was had to get started with but with a little help I had it going. The program came to show that it was easy to use and didn t differ that much with all other coding programs. Kista KTH Sida 6 av 7

7 Learning this will help in the future when a problem shows up. And having a programing background is always a positive sign in the IT branch. Referenser I used the information provided in Bilda Report Template Lab PM The Program Provided Line-follower PDF about coding Kista KTH Sida 7 av 7