fischertechnik BIONIC ROBOTS Begleitheft Seite 19

Rather complicated, isn't it? But don't worry; we'll have it solved soon.
Two different subprograms must be used for the backward movement.
If the model should turn left, you synchronize the steps during walking
back with the pushbuttons E1 and E2. This corresponds to the BACK
subprogram from the MIKE_OBSTACLE.MDL project.
If the model should turn right, you synchronize the steps during walking
back with the pushbuttons E3 and E4.
Rename the subprogram BACK, and rename it to BACK_L using the com-
mand SUBPROGRAM - RENAME. Then copy it using SUBPROGRAM - COPY
into a second subprogram BACK_R. Change the pushbuttons for the
synchronization there to E3 and E4. Don't forget to use a new variable VAR6
for BACK_R for the synchronization; otherwise, you will have perfect chaos.
BACK_R then looks like this:
Now you need to change the subprograms for the turning itself, so that the
two motors always run simultaneously. The LEFT subprogram is composed of
the following blocks:
You can see that a few blocks can be eliminated compared to the
subprogram in the MIKE_OBSTACLE.MDL project.
The subprogram for the turn to the right looks similar, only with different
motor rotation directions. The pushbuttons E1 and E2 are also used for
synchronizing the two motors.
First replace the subprogram BACK_L with BACK_R for turning to the right
in the branch in the main program.
The rest of the main program remains unchanged.
You did it! If you didn't make any mistakes, Jack should now walk without
falling over when he turns. If something does not function and you have no
idea why, don't worry about it because it really was a hard nut to crack.
At any rate, you can simply call the finished JACK_OBSTACLE.MDL project
from the CD and run the model with it.
If you figured out how to solve the problem yourself, you have reason to
be proud, because now you are a pro among programmers.
GB+USA
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