Digital Electronics Boe-Bot Navigation. This presentation will Detail how to program the Boe-Bot move a specific distance. Detail how to program the Boe-Bot.

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Presentation transcript:

Digital Electronics Boe-Bot Navigation

This presentation will Detail how to program the Boe-Bot move a specific distance. Detail how to program the Boe-Bot to perform servo motor ramping. 2

Moving A Specific Distance In order to move the Boe-Bot a specific distance, you need to know how long to run the servo- motors. Equation For Servo Time: To determine how long to run the servo motors, you need to know the Boe-Bot’s speed. 3

Measuring the Boe-Bot’s Speed 4

In the example, the Boe-Bot moved 18.5 cm (distance) in 1 second (time) 5

Servo Motor Run Time Using the measured Boe-Bot speed, calculate the Servo Time to move a distance of 100 cm. 6

For-Loop-Limit for Given Servo Time 7 Calculate the For-Loop-Limit that is required to move the Boe-Bot forward for 100 cm (i.e. Servo Time = 5.41 sec) Assume that the code overhead is 1.6 ms.

Servo Motor Ramping Ramping is a technique to gradually increase or decrease the speed of the servos instead of abruptly starting or stopping. Ramping increase the life expectancy of both the batteries and the servo motors. Ramping Example 8

9