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

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

“Go” Drive Commands

“Go” Drive Commands Go Usages Range of motor power values 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

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

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

Preparing basic environment

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

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

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

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

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

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

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

Preparing basic environment Execution result

Simple “Go” drive

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

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

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

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

“Go Forwards” drive

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

“Go Forwards” drive Change command as follows

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

“Go Backwards” drive

“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

“Go Backwards” drive Change command as follows

“Go Backwards” drive Execution result

Stopping a robot

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

Stopping a robot Add “wait 5000” command as follows

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

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

Stopping a robot Execution result Go backwards 1 Stop 2

Going around

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

Going around Change command as follows

Going around Execution result

Turning round

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

Going around Change command as follows

Turning round Execution result