Datasheet

BOE Shield-Bot Navigation • Chapter 4
Robotics with the BOE Shield-Bot • 115
U.S. customary units example: At 9 in/s, your BOE Shield-Bot has to travel for 2.22 s to
travel 20 in.
Metric units example: At 23 cm/s, your BOE Shield-Bot has to travel for 2.22 s to travel 51
cm.
Both examples above resolve to the same answer:
ms
s
ms
s
s
ms
stimemstime
2220
1000
22.2
1000
)()(
=
×=
×=
So, use
delay(2220) after your writeMicroseconds calls:
servoLeft.writeMicroseconds(1700);
servoRight.writeMicroseconds(1300);
delay(2220);
Your Turn – Your BOE Shield-Bot’s Distance
Now it’s time to try this out with distances that you choose.
 Decide how far you want your BOE Shield-Bot to travel.
 Use the equation below to figure out how many milliseconds of forward travel
you need for that distance:
s22.2
in 9
s1
in 20
in/s 9
in 20
time
=
×=
=
s22.2
cm 23
s1
cm 15
cm/
s 23
cm 51
time
=
×=
=