Datasheet

BOE Shield-Bot Navigation • Chapter 4
Robotics with the BOE Shield-Bot • 141
Projects
1. It is time to fill in column 3 of the writeMicroseconds table on page 69. To do
this, modify the
us arguments in the writeMicroseconds calls in the
ForwardThreeSeconds sketch using each pair of values from column 1. Record
your BOE Shield-Bot’s resultant behavior for each pair in column 3. Once
completed, this table will serve as a reference guide when you design your own
custom BOE Shield-Bot maneuvers.
2. The diagram shows two simple courses. Write a sketch that will make your BOE
Shield-Bot navigate along each figure. Assume straight-line distances (the
triangle’s sides and the diameter of the circle) are either 1 yard or 1 meter.
Question Solutions
1. Left wheel counterclockwise, right wheel clockwise.
2. The right wheel is turning clockwise (forward), and the left wheel is not moving.
servoLeft.writeMicroseconds(1500);
servoRight.writeMicroseconds(1300);
3. Slow down the right wheel to correct a veer to the left, and slow down the left
wheel to correct a veer to the right. Slow down a wheel by changing its
servo’s
writeMicroseconds us parameter, using values closer to 1500. Start
at the appropriate end of the linear speed control range (1400–1600), gradually
move towards 1500 in increments of 10, and go back in smaller increments if you
overshoot.