Nxt soccer robot building
The first thing we want our robot to do is to be able nxt soccer robot building stay inside the Soccer Field; click here. To stay on the Soccer field our Robot must avoid the Soccer field's white borders. How can we teach our robot to know when it sees white? The highest reading inside my Soccer field is 60, obtained in the "light green" part of the Soccer field. To be able to tell my Robot how to see the difference between the light green and white parts of the Soccer mat, I could use a value: However a light sensor reading greater than 63 would nxt soccer robot building that the robot is outside the Soccer field, and that is a problem we must fix.
If your robot has the light sensor plugged in to a different socket, you will have to change this code. If a robot Soccer player that has gone over the edge of the green and black playing field into the white surround, the code above will cause the Robot to retreat backwards on to the Soccer field.
It works like this: The command above will tell motors A and C start to go backwards, taking the Robot back towards the playing field. I have used power However a greater power could be used when testing is complete. The circled loop above will allow motors A and C to continue running backwards sending the Robot backwards until the Robot is back in the Soccer field.
The code above is quite sufficient to tell our Soccer Robot to go back to the mat. They will continue running after leaving the loop. This may confuse us when this code is inserted in nxt soccer robot building our Soccer program.
It is important to test that this code works, before using it as part of a bigger Soccer nxt soccer robot building. To do this we download this program into our Soccer Robot, and run it. When placed on your Robot Soccer mat, the robot should do nothing if placed inside the playing field, but should retreat backwards if placed anywhere on the white border surrounding the Soccer playing field. This video demonstrates this.
If your robot goes backwards into the Soccer field when placed on white, and does nothing when placed in other parts of the Soccer fieldyour code snippet has been tested and proven reliable.
It can now be used as part of a Soccer playing program. When everything is good, go on to the next step where we can find out how our Soccer Robot finds the ball! Soccer Tactics 1 - Stay on the Soccer Field! Which readings will we use to tell our robot that it has left the Soccer field? How could we tell the Robot to fix this problem??
Let us look at the following code. If your robot does not behave this way, they are several possible reasons. Has the light changed? This could cause the light sensor reading taken from the Soccer mat to be no longer relevant. Is your light sensor securely mounted on your robot? The difference between the "white" reading of 65 and the nxt soccer robot building green" reading of 60 is quite small. If the light sensor on your robot bounces up and down as your robot moves, the light readings will change.
It the light readings change by more than 2 or 3, your Robot may be confused and not be able find the edge of the Soccer field. It is important that the nxt soccer robot building sensors are firmly fixed nxt soccer robot building your robot and that they do not bounce up and down as your robot moves. Check your light sensor mounting. Have you understood the steps above? Carefully check each of the steps above to see if you have understood the code and that your program is similar to the code above.