Pulse Control; Subprograms - fischertechnik ROBO Explorer Bedienungsanleitung

R O B O R O B O R O B O
R O B O R O B O

Pulse Control

Pulse Counter

Subprograms

Generate new subprogram
Copy current subprogram
Delete current subprogram
Solution
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X P L O R E R X P L O R E R X P L O R E R X P L O R E R X P L O R E R
The basic model already contains two sensors (push button switches) for measuring distances and one
pulse wheel for each, which is connected with the motor axle. This pulse wheel operates the switch four
times for each revolution. Check the model with „Interface test" for proper functioning.
Task 2 - ROBO Pro Level 1
Your tracked vehicle is to move 50 pulses forward. Following this, it is to travel 11 pulses
to the left and then stop. You can find information about the pulse counter in the handbook
in chapter 3.6.3.
Solution
First turn both motors on. Then addd the pulse counter to these. In the properties change the number of
pulses to 50. Again, insert two motor symbols. M1 continues to rotate to the „ccw," switch M2 to „cw."
This turning is to last for 11 pulses. Finally, you must again insert two motor symbols and add „Stop."
Transfer the program and test it on your vehicle.
When in the properties window for the pulse counter, you set the pulse type to „0->1" or „1->0," you get
eight instead of four pulses per rotation of the pulse wheel, which means the number of the pulses per
distance traveled doubles and the precision of the measuring of the distance increases.
You can find the finished program at:
C:\Programs\Robopro\SamplePrograms\Robo_Explorer\Basic_Model_2.rpp.
When you were making the program, you certainly noticed that you had to set the motors for every
change of direction or stop. As a result, big programs become complicated very fast and the search for
errors often becomes a test of patience.
Here, ROBO Pro offers „subprograms," which you can work with, as an elegant solution. Read all of chapter
4.1 in the handbook on this subject. It is important that you switch to level 2 in ROBO Pro.
Task 3 - ROBO Pro Level 2
Your tracked vehicle is to move around a square. As for the first task, use the parameters
50 and 11. Make a subprogram for each direction of travel and for the Stop command.
First, make the subprogram „Forwards" (see ROBO Prof Handbook chapter 4). Mark the program parts and
copy them to the cache. Following this, prepare the subprogram, „Left" and „Stop." Insert the program
parts for „Forwards" into both from the cache and change the parameters accordingly. For the turn, use a
lower speed of rotation. As a little bit of help, we show you a part of the task.
The following table is to show you at a glance how you have to program the motors for the directions of
travel.
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A A A A A B B B B B
C T I V I T Y C T I V I T Y C T I V I T Y C T I V I T Y C T I V I T Y O O K L E T O O K L E T O O K L E T O O K L E T O O K L E T