My first robot programming - Simple “Go”

1. My first robot programming- Simple“Go” MSRDS First Beginner Course – STEP4 Young Joon Kim http://www.helloapps.com

2. Topics • Preparing basic environment • Simple “Go” drive • “Go Forwards” drive • “Go Backwards” drive • Stopping a robot • Going around • Turning round

3. “Go” Drive Commands

4. “Go” Drive Commands • Go • Drive a robot with motor power • Motor power is set with given value and keeps its value • Usages • robotname.Go() //default power is 0.2 • robotname.Go(power) • robotname.Go(left_power, right_power) • Range of motor power values • -1.0 (Max backwards) ~ 1.0 (Max forwards) • 0: Stop the motor

5. “Go” Drive Commands • Go forwards • Use the value above 0 • Ex) • robotname.Go() • robotname.Go(0.3) • robotname.Go(0.2, 0.2) • Go backwards • Use the negative value • Ex) • robotname.Go(-0.3) • robotname.Go(-0.2, -0.2)

6. “Go” Drive Commands • Stopping a robot • Use the value 0 • Ex) • robotname.Go(0) • robotname.Go(0, 0) • robotname.Stop()

7. Preparing basic environment

8. Preparing basic environment • Launch SPL and add “StartSimulationEngine” command 1 2 Double click

9. Preparing basic environment • Expand “/FileName:” option Click + Expanded

10. Preparing basic environment • Double click “SimState/basicsim.xml” Double click

11. Preparing basic environment • Add “AddDifferentialDriveEntity” command on the “Entities” tab 1 Double click 2

12. Preparing basic environment • Add “FlushScript” command on the Actions tab 1 2 Double click

13. Preparing basic environment • Save as “script/SimpleGo.txt”

14. Preparing basic environment • Run SPL by pressing “F5” key or clicking “Run (F5)” icon

15. Preparing basic environment • Execution result

16. Simple “Go” drive

17. Simple “Go” drive • Check available method for DriveEntity under the Actions tab

18. Simple “Go” drive • How to use drive methods • “robot_name” + “.” + method • Ex) • Robot name: “base1” • Method: “.Go()” base1.Go()

19. Simple “Go” drive • Add “base1.Go()” command as follows

20. Simple “Go” drive • Run SPL by pressing “F5” key or clicking “Run” icon

21. “Go Forwards” drive

22. “Go Forwards” drive • Change drive command as follows • base1.Go() -> base1.Go(0.5) • Left and right power will be set with 0.5

23. “Go Forwards” drive • Change command as follows

24. “Go Forwards” drive • Run SPL by pressing “F5” key or clicking “Run” icon

25. “Go Backwards” drive

26. “Go Backwards” drive • Change drive command as follows • base1.Go(0.5) -> base1.Go(-0.3) • Left and right power will be set with -0.3

27. “Go Backwards” drive • Change command as follows

28. “Go Backwards” drive • Execution result

29. Stopping a robot

30. Stopping a robot • Add time delay command • Wait milliseconds • Ex) wait 5 seconds • Wait 5000

31. Stopping a robot • Add “wait 5000” command as follows

32. Stopping a robot • Add new drive command as follows • base1.Go(0.0) • Left and right power will be set with 0.0

33. Stopping a robot • Add “base1.Go(0.0)” as follows

34. Stopping a robot • Execution result Go backwards 1 Stop 2

35. Going around

36. Going around • Change drive command as follows • base1.Go(-0.3) -> base1.Go(0.2, 0.4) • Left power will be set with 0.2 • Right power will be set with 0.4

37. Going around • Change command as follows

38. Going around • Execution result

39. Turning round

40. Going around • Change drive command as follows • base1.Go(0.2, 0.4) -> base1.Go(-0.2, 0.2) • Left power will be set with -0.2 • Right power will be set with 0.2

41. Going around • Change command as follows

42. Turning round • Execution result