 circumference = distance around the wheel

 Distance around the wheel = distance travelled in 1 rotation  Distance travelled in 1 rotation would change depending on size of wheel

 PackBot PackBot

 What is it?  Threshold is the number by which the robot can determine what is “light” and what is “dark”. For example, a threshold of 50 means than any light sensor value less than 50 is “dark” and greater than 50 is “light”

 Why is it important with the light sensor?  If the threshold is off, the robot can’t tell light from dark. For example, if you set the threshold to 0, it would think everything was light.

 How do we find it?  Hold the robot’s light sensor over something white, and record the “reflected light” number  Hold the robot’s light sensor over something black, and record the “reflected light” number  Average these two numbers

 When would we need to recalculate the threshold?  Different rooms  Different lighting  Different times of day even!  Changing your light sensor  Moving your light sensor

 Sudoku Solver Sudoku Solver

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 Violinist Violinist  Humanoid Humanoid  Running Running