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Team Name:

The Tinkering Tiggers

Team Symbol:





I. Team Members Names

(Team members should rotate between building, programming, testing, and working on the wiki. Each member should contribute to the wiki on their OWN computer.)

II. Instructions for Challenges


A. For each challenge you must write a short description of the challenge using complete sentences. Please write in 3rd person, scientific writing.
B. This is where you should include your programming code by including screen screen shots.
You should place all multimedia on photobucket.com and then incorporate it into the site using the embed code.
C. For each challenge you must provide some form of multimedia exhibit. This would be images, a short video, an interview, etc. You should place all multimedia on photobucket.com and then incorporate it into the site using the embed code.
D. For each challenge you should provide a written explanation of the difficulties encountered with the challenge.

III. Challenges


1. DATE: 4/4/2008

Title of Challenge:Point Turn
A. Description (Short Paragraph):
The Point Turn challenge is a basic challenge to learn how to move the robot. The robot must first move forward 25 centimeters. Then the robot must point turn 180 degrees. This is the right wheel moving while the other wheel is still. The robot completes the challenge by moving in reverse 10 centimeters.

B. Programming Code (Picture and Written Explanation):

This is the basic code used to move the robot, 3 blocks of moving instructions.
. Code_of_point_turn.jpg
Image One: Basic Programming Blocks
In this view one can see that Block One moves engines A and C forward, Block Two moves Engine A forward. Block 3 moves Engines A and C in reverse. This picture is of the code of Block One.
First_move_point_turn.jpg
Image Two: Programming for Block One
This picture shows the different variables that can be changed, such as how far the robot moves, what direction it moves, the strength of the engine, whether the robot should end by coasting or breaking, and which enginge moves. The same can be said for the next pictures, but the variables are different. In the following block, Engine A moves forward 700 degrees on 60 Power. Snip_of_turn_point_turn.jpg
Image Three: Programming for Block Two
Snip_of_reverse_point_turn.jpg
Image Four: Programming for the Third Block
This block shows that Engines A and C will move in reverse at 75 power then brake.
C. Multimedia:


Video 2: Robot Making Point Turn

Video 3: Sarah Explaining Programming

D: How You SOLVED the Challenge! (Paragraph):
The challenge was solved mostly by guessing and checking. First, the worker measured the circumference of the wheel so the worker would know how many rotations the robot must go to move a certain amount of centimeters. The circumference of the wheel was 18 centimeters. The worker dragged a move block onto the programming field and changed it to move engines A and C, which correspond to the both wheels. Twenty-five was then divided by eighteen to see the number of rotations needed. The answer was approximately 1.38 rotations. The number was entered into the block, the data saved, and the worker downloaded it to the block on the robot. The program was tested and found to move one centimeter less than needed. The worker then changed the duration to 1.39 rotations. The next step needed was to turn the robot. The teacher helped the worker and told the worker that to turn one must move one wheel. A fellow worker discovered that one can measure the duration in degrees and recommended using less power. The worker tried guessing and checking 1000 degrees on 60 power. This went to far, so the degrees were halved. This was to short, so the degrees was changed to 700, and it worked. Finally, to make the robot move 10 centimeters in reverse the worker divided 10 by 18 to get .55555. This resulted in half the centimeters needed, so the answer was doubled to 1.12 rotations in reverse. This was the perfect solution to the challenge.


2. DATE: 4/8/2008:

Title of challenge: Square Challenge
A. Description (Short Paragraph):
The point of the Square Challenge is to make the robot move in a square pattern. The square itself is 61 centimeters by 61 centimeters. Basically the robot has to make four 90 degrees point turns.
B. Programming Code (Picture and Written Explanation):
[[image:file:C:%5CDOCUME%7E1%5CADRIEN%7E1.ORG%5CLOCALS%7E1%5CTemp%5Cmsohtmlclip1%5C01%5Cclip_image001.png width="779" height="204"]]programming1.png
Image Five: Basic Programming for Challenge Two
This is the basic programming code for the square challenge. There are four straight distances and four point turns for the robot to navigate; eight blocks.

programming3.png
Image Six: Programming for the Straight Section of the Square Challenge
This is one of the point turns. For a point turn, only one wheel is used. The duration is set to degrees. Although it is making a 90 degree turn, it is set to 400.

[[image:file:C:%5CDOCUME%7E1%5CADRIEN%7E1.ORG%5CLOCALS%7E1%5CTemp%5Cmsohtmlclip1%5C01%5Cclip_image003.png width="616" height="143"]]programming2.png
Image Seven: Programming for Ninety Degree Point Turn[[image:file:C:%5CDOCUME%7E1%5CADRIEN%7E1.ORG%5CLOCALS%7E1%5CTemp%5Cmsohtmlclip1%5C01%5Cclip_image002.png width="617" height="148"]]
This is one of the straights. Two wheels are used (A and C). The duration is set to seconds, although it may also be set to rotations.
This basic programming is what allows the robot to run.

C. Multimedia:

Video 4: Square Challenge

Video 5: Difficulties in Challenge 2

D. Difficulties Encountered/How You SOLVED the Challenge! (Paragraph):
The programmers experienced some difficulties with Challenge 2. The programmers had to make the robot follow a line, and then turn 90 degrees. Making the robot turn 90 degrees was very important, because if the robot turned badly on one turn it affected the rest of the turns. Making the turn 90 degrees was also challenging because when the blocks say that they are turning the robot 90 degrees they might just be turning it 1 degree. Also, it was challenging of making the robot go the correct distance.


3. DATE: 4/16/2008

Title of Challenge: Backing Up
A. Description (Short Paragraph):
In this challenge the robot had to conquer three main things. First, the programmer must program the robot to do a gradual turn. Then, the robot must back up. That sounds easy, but the hard part is having it make a noise while backing up.

B. Programming Code (Picture and Written Explanation):
3overall.jpg
Image Eight: Basic Programming Blocks for Challenge Three
Image Eight shows the overall programming code of Challenge 3. It is very similar to the overall programming code for challenges 1 and 2. It shows the motion blocks that move the robot forward and then gradually turn it. The major difference is that Challenge 3 has the robot making a noise as it backs up so to do this there is an extra bit of trail going in a curve to bring the sound block parallel to the reverse motion block, so they play at the same time.
3turn.jpg
Image Nine: Straight Line for Challenge Three
Image Nine shows the basic motion block which moves the robot forward a bit on the strait part of the line. This is block moves the robot forward in rotation.
snip_of_turnytrurnyth9hing.jpg
Image Ten: Gradual Turn for Challenge Three
Image Ten shows the details of the gradual turn motion block. The gradual turn is done by taking the slider at the bottom of the first part of the block details and moving it to the left or right.
snip_of_reverseythurnythings.jpg
Image Eleven: Backing up for Challenge Three
Image Eleven shows the reverse movement of the robot.
3sound.jpg
Image Twelve: Playing Sound for Challenge Three
Image Twelve shows the block for sound. The robot will say "Watch out" repeatedly until the reverse block finishes, because of the repeated box that is checked.



C. Multimedia:

Video 5: Robot Navigates Challenge 3


D. Difficulties Encountered/How You SOLVED the Challenge! (Paragraph):
The programmers of challenge three had some difficulties with the challenge. A minor difficulty was encountered when figuring out how far to make the robot must move on the first straight. Another one was in figuring out which way to slide the slider of gradual movement. Another difficulty was seeing how far the robot needed to turn and move. The most major difficulty was that after perfecting the programming the next day when the programmers tested the program to video it had gotten incorrect in some mysterious way. The programmers had to fix the program again. Then the programmers found out that the robot had to make noise as it backed up, not just when it finished. This part of programming was not difficult because the programmers had help. Eventually, the program was done.

The programmers experienced some difficulties with Challenge 2. The programmers had to make the robot follow a line, and then turn 90 degrees. Making the robot turn 90 degrees was very important, because if the robot turned badly on one turn it affected the rest of the programming. Making the turn 90 degrees was also challenging because when the blocks say that they are turning the robot 90 degrees they might just be turning it 1 degree. Also, there was the basic challenge of making the robot go the correct distance.


4. DATE: 4/9/2008

Title of Challenge: Obstacle Course
A. Description (Short Paragraph):
The instructions given were to create a basic obstacle course using tape that had three turns, a sound sensor, and a light sensor for a black line at the end of the challenge. Team 1A built a course so that the robot would go through between two lines of tape. Upon hearing a sound, such as the clapping of hands, the robot advances down a straight path. Then it makes a right hand point turn and advances down another straight path. After that it, the robot makes a gradual turn to the left. Then it advances up a straight path. At the top of the path,it turns and goes backwards to the right, stopping at the black line.

B. Programming Code (Picture and Written Explanation):
The programming code for challenge 4 is very long. It first shows part of the overall programming code. The Course starts with a "wait until" block that waits until a sound. To simplify the rest of the programming, the robot moves forward, point turns on one wheel, moves forward and then starts the gradual turn. The gradual turn is split up into multiple blocks of gradual turns, each one with a different angle. The robot finally moves forward, then backs up. The programmers did not have time to make the robot stop on the black line.
challenge4_1.jpg
Image Thirteen: Basic Programming for Challenge 4
challenge4_2.jpg
Image Fourteen: Sound Block for Challenge 4
challenge4_3.jpg
Image Fifteen : Straight One for Challenge 4

challenge4_4.jpg
Image Sixteen: Point Turn for Challenge 4
challenge4_5.jpg
Image Seventeen: Straight Two for Challenge 4
challenge4_6.jpg
Image Eighteen: Gradual Turn Part One
challenge4_7.jpg
Image Nineteen: Gradual Turn Part Two
challenge4_8.jpg
Image Twenty: Gradual Turn Part Three
challenge4_9.jpg
Image Twenty-One: Straight Three for Challenge 4
challenge4_11.jpg
Image Twenty-Two: Turn to Back Up
challenge4_10.jpg
Image Twenty-Three: Backing Up for Challenge 4

C. Multimedia:

Video 6: Building the Course

Video 7: Final Run of the Obstacle Course

Video 8: Nicole Explains the Course

DSC00796.JPG
Image Twenty-Four: Picture of the Whole Obstacle Course
D. Difficulties Encountered/How You SOLVED the Challenge! (Paragraph):
There were many difficulties in solving this challenge. First, making the robot go the correct length on all the straights was very hard. When programming the robot it is hard to figure out how many seconds/rotations it would take to go a certain distance. Another problem was making it turn properly. Sometimes it would not turn far enough and sometimes it turned too far. One of the most challenging turns was the gradual turn, which is shown at the top of Image Twelve. To solve this difficulty we split the turn into two separate turns, so that the robot could make the turn with more accuracy. By far the hardest challenge was programming it to sense the black light. In the end it took over a week to figure out how to do this, and by that time it was to late. Even though the team did not completely finish the obstacle course, it was still fun to program the robot!

5. DATE: 5/20/2008


Task 1 (10 points): At your work area on the table come up with a strategy to calculate the velocity of your robot at 30% power over 70 cm. Repeat the measurement 3 times and get an average. Think about the equation for velocity. Carry out your plan and determine the velocity.

a. Brief description and image (snip and you can upload to the wiki- give your image an uncommon file name) of the programming you used to solve this challenge.
This programming code is used solve the challenge. The programming follows the directions in that it is on 30% power. It is programmed to go strait for 3.99 rotations. The rotation amount was got by dividing 70 by 18 cm. When this was not quite enough, the amount was increased to 3.99.
Tiggersnipsone.jpg

b. Description of what made this task difficult for your group.
In this challenge Team 1A had many difficulties. One of the challenges that was experienced was the right wheel kept falling off, causing the robot to turn even though it was programmed to go in a straight line. Also, the batteries had to be replaced in the middle of the challenge.


Task 2 (20 points):: At your work area, come up with a strategy to get your robot to accelerate over a 1 meter distance. Have it come to a stop at 1 meter.

a. Brief description and image (snip and you can upload to the wiki- give your image an uncommon file name) of the programming you used to solve this challenge.
b. Description of what made this task difficult for your group.
The difficulties Team 1 experienced in Task 2 were very few. For one, the robot kept trying to move off the table. It would not move in a straight line either. Task 2 posed only two problems.

Task 3 (30 points):: Determine the velocity of the rotation of the wheels on your robot. Program your robot at 45% power to rotate 10 times. Calculate the velocity of the rotation of the wheels at this power in cm/sec. (Hint: You need to know the circumference of a wheel and remember it goes around ten times!)

a. Brief description and image (snip and you can upload to the wiki- give your image an uncommon file name) of the programming you used to solve this challenge.
b. Description of what made this task difficult for your group.

Task 4 (40 points):: On a graph, plot the velocity that your robot travels 1 meter at 20% power, 40% power, and 70% power. Include an image of your plot in your documentation by snipping it. Make sure it has units and axis labels. Using your graph, determine how fast you think your robot wold be traveling if you programmed it to go at 60% power. Calculate velocity in cm/sec.
a. Brief description and image (snip and you can upload to the wiki- give your image an uncommon file name) of the graph.
b. Description of what made this task difficult for your group.

Task 5 (50 points):: Create an obstacle course on your lab table with building bocks. It should contain one right point turn and 1 left point turn. The robot should stop at the end where you have built a small tower of blocks. Your robot should not knock the blocks over.


a. Brief description and image (snip and you can upload to the wiki- give your image an uncommon file name) of the programming you used to solve this challenge.
b. Description of what made this task difficult for your group.