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Solutions Prelab 1

# Solutions Prelab 1 - Pre-tab 1 Due at START of lab Sock/V71...

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Unformatted text preview: Pre-tab 1 - Due Sep 16, 2010, at START of lab Sock/V71 0 HS Pre-lab exercise for Lab 1 — Motors and Rotation Sensors This laboratory has the following objectives: 0 Learn how to power and turn a tribot powered by two independently powered wheels 0 Understand the various ways power and can be applied (and removed) from a motor 0 Understand how the rotation sensors can be used to control movement This prelab exercise is due at the start of class. Late submissions will not be accepted. You may use printed references and online course material from LEGO, National instruments, or other schools. If so, list references that were used and attach to end of this report, You should also i read the posted Lab #1 before working these exercises. STAPLE ALL PAPERS BEFORE SUBMISSION. Concept 1: Rotation sensors The LEGO motors can be commanded via a Motor function block to rotate for a specified duration in seconds, rotations, or degrees. You can also specify a power love! to the motor which determines the speed at which it spins. Suppose the following are true for a tribot powered by the NXT motors. - The wheels 8 cm in diameter. - When the motors are powered at 100%, they spin at 4 rotations/second. .You wish to travel fomrard 2m. Answer the following questions and show all work. 1) How many rotations must the wheels turn to travel 2m? .1 - I i P044413“ :5.) 0.081? m ohmic. - _ _ dbrﬁaiw‘ms: 2m - ‘Mhhm 2 7'0“" mkk‘m. . 2"“ i o. 081? M 2) How many degrees must the wheels turn to travel 2m? 360; “i 0 - ,z s . 7 q in PARA—IN POTHM (2.8 8 3) How many seconds must the wheels turn? Suppose the motors are powered at only 67% of full power and consequently. spin 2/3 as fast as before. 4) How many rotations must the wheels turn to travel 2m? SM... M. slum. not) when .___,.-—-—-—""7 5) How many degrees must the wheels turn to travel 2m? saw a. elm: .zsm’s“ ##- ' 3'. Pre-lab 1 ‘ Due Sep 16, 2010, at START of lab with"? 6) How many seconds must the-wheels tum? S PQ& '. 77’ ‘1" re'iwi's “HM: \$33-61 .1 ' '3’. g5;- —-.. .7 7:01? Nil-411m 2? rah-Hm — ‘2 .5151 use - strength in your NXT controller. What are the preferable means to command the tribot to travel a given distance that would not be affected by battery strength? Why? 561‘ *‘iha mom bu“ :o-F-r‘biwh 'ewusopA es. [-1wa 'HM_¢1MI-e-Hm, Conceptz: Turning the tribot-{he'd Is-iqnu. have b.‘ or.“ Van‘cl i . . _ i 7) Power to the wheels also varies with battery level. You may not know the current battery which eaﬁuson issuer“ __ ----- skew Sims. a’t‘s S9244 ~ The tribot is driven by two side—by—side heels each driven by‘6 a different motor. Turning the tribot is accomplished by powering the two wheels at different power levels and possibly different directions. Suppose the wheels are 8 cm in diameter and they are spaced 25 cm apart, as shown below __f.+25 cmM turning, "spinning about the center 'of the axle shown above) unttt the body of the tribot rotates 360 5 You want to command the tribot to spin in place (i.e. no fonIvard or backwards movement while i degrees. Power should be applied to' both wheels, one in the forward and one in the reverse direction. How many degrees much each wheel rotatezfor the tribot to turn 360 degrees? I I Oneida Point-rm a€ raise-i. z) Zg'ﬁ‘ cm Medal , : (”newt-e. whee—i ”>ka 77> QTTct-n 01" ngD uh-e-ei Mia-inc», 3:99, .291“ 2 “ZS goon" c‘a 8‘50 S‘Dcrcv'n .= 22975 .. ; g“ a“ : . I - ”EM €111." g ...... . When programming the NXT, the Motor function biocks in the programming environment provide ; you with complete control of each motor (power, direction, duration or rotations for which block i _ 2' ' '- _shou|_d'_r'u_.n) However, in your lab you will use Steering On function blocks, which allow you to control a pair. of motors and specify turn directions, making such calculations as these a little less \ necessary~ ..... Preé lab 1 Due Sep 16, 2010, at START of lab :Qoncept 3: Traveling in a closed loop In your lab, you will be commanding the tribot to travel a path described in the figure below. Starting at the circle, you most travel forward along each segment and turn to the next segment. The goal is to return to the starting point as close as possible. Note that segment B runs from the tip of the arrow at A to the arrow at the end of the segment at the lower right of the diagram. ' . 321+: _ 2) If the motor requires 4 rotations to travel segment A, how many rotations are required to travel the duration of segment B? Note that B denotes the entire diagonal all the way to the left turn in the lower right corner. , g is 4mtce. us [onﬁ a»: Q. 3) How manydegrees to the right must the tribot turn at the ﬁrst turn? I20 4)‘ How many degrees to the left must the tribotturn at the: second turn? O I ' ....... ...
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Solutions Prelab 1 - Pre-tab 1 Due at START of lab Sock/V71...

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