1. My first robot programming - Simple “Go”
MSRDS First Beginner Course – STEP4
Young Joon Kim

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 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

5. “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)

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 base1.Go() 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