Activity #3: Following A Stripe - Parallax Boe-Bot Student Manual

Page 286 · Robotics with the Boe-Bot
You can adjust the set points and proportionality constants to change the shadow Boe-
Bot's behavior. Use your hand or a piece of paper to lead the shadow Boe-Bot while
doing these exercises:
√ Try running FollowingBoeBot.bs2 using values of
ranging from 15 to 50. Note the difference in how responsive the Boe-Bot is
when following an object.
√ Try making adjustments to the value of the
0 to 4.

ACTIVITY #3: FOLLOWING A STRIPE

Figure 8-7 shows an example of a course you can build and program your Boe-Bot to
follow. Each stripe in this course is three long pieces of ¾ in (19 mm) vinyl electrical
tape placed edge to edge on white poster board. No paper should be visible between the
strips of electrical tape.
6- 9V D C 15 1 4 V dd 13 1 2
9 V dc
B a t t ery R ed
B l ack
X 4 X 5
P w r V dd V dd V i n V i n V ss V ss
V ss V ss X 3 X 3
P 0 P 1
P 2 P 3 P 15 P 15
P 14 P 14
P 4 P 5 P 7 P 13 P 13
P 6
TM P 8 P 9 P 12 P 12
1 P 10 P 11 P 11 P 11
S out V i n P 12 P 13 P 10 P 10
S i n V ss P 14 P 15 P 9 P 9
P 8 P 8
A T N R st V dd V i n
V ss V dd X 1 P 7 P 7
P 0 P 15 P 6 P 6
P 1 U 1 P 14 P 5 P 5
P 2 P 13 P 4 P 4
P 3 P 3
P 4 P 3 P 12 +
P 11 R eset P 2 P 2
P 5 P 10 P 1 P 1
P 6 P 9 P 0 P 0
P 7 P 8 X 2 X 2
0 1 2
B o a rd o f E d uc a t i o n
w w w . st a mp si nc l a ss . c om
R ev C © 2 000 - 2 003
Start
Finish
Building and Testing the Course
For successful navigation of this course, some testing and Boe-Bot adjustment will be
required.
SetPoint
28" (71 cm)
and constants,
Kpr Kpl
constant. Try values from
Figure 8-7
Stripe
Following
Course