1. Debugging (updated 9/20/06 12:48pm) It doesn’t work…. What do I do???? #@&*

2. Debugging Your System Mechanical System (beams, gears, wheels, etc.) Control Logic (the NQC program) Actuators (motors) Sensors (touch, light, etc.) Robot All four subsystems of the mobile robot interact.

3. Mechanical Subsystem For Bumpbot 2: For normal straight-line motion, the mechanical lever should keep the touch sensor closed. Does the bumper work smoothly? Does the mechanical lever depress the touch sensor properly? When you let go of the bumper, does the spring mechanism release and close the switch?

4. Sensors For Bumpbot 2 When the bumper is not depressed does the view panel indicate a value of 1 (closed)? When you depress the bumper does the value change to zero? If the above does not happen, are the leads from the sensor attached to the correct terminal? Check SetSensor( ) function to make sure you are referencing the correct sensor port. In order to view the sensor values, you must have downloaded the program. This is the only way the RCX knows what kind of sensor is attached and will display the correct scaling. If all of the above checks out, it is possible (but not very likely) that the sensor is broken.

5. Motors For Bumpbot 2 Are the actuators attached to the right ports? Is Forward really the forward direction? You can use the manual control to drive the motors forward. If they go in the wrong direction change the polarity.

6. Control Logic More on this later!!!!