Datasheet

Chapter 1: Mechanical Adjustments · Page 15
Figure 1-5
Other Collision Paths
One SumoBot can
approach at an angle,
or even with a curved
path.
Do not adjust your plows.
The strategies presented in this book will use the head-on approach. You can modify your
programs (and the plows) to optimize for different approach angles, but wait until after
Chapter 5.
√ Test a variety of approach angles and plow intersection points with the same
full-speed-forward settings.
To test curved approaches, you will need make one of the servos turn slower than the
other. You can do this by modifying the code in the Main Routine. Simply reduce one of
the
PULSOUT command's Duration arguments closer to 750. If you want it to curve
right, change
PULSOUT ServoRight, 650 to PULSOUT ServoRight, 720. For a
tighter turn, try
PULSOUT ServoRight, 730. PULSOUT ServoRight, 735 will make
the turn tighter still. For a wider turn, try
PULSOUT ServoRight, 715, or even PULSOUT
ServoRight, 710
.
You can repeat this for left turns. First, restore the right servo to
PULSOUT ServoRight,
650
. Then, change the left servo's control signal to PULSOUT ServoLeft, 780. The
same adjustment pattern applies for the left servo. For tighter turns, adjust the
PULSOUT
commands
Duration argument closer to 750, and for wider turns adjust it closer to 850.
√ Experiment with a curved approach with one SumoBot and a straight approach
with the other.
√ Also experiment with curved vs. curved.