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=Team Name:= The MAN (Marion, Alex, and Nikki) =Team Symbol:= =I. Team Members Names (First Only)= Marion, Alex, Nikki

=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 (Template)=

Copy this section for each of your challenges:

1. Point Turn
Instructions: 25 cm forward, point turn to the left (180 degrees), back up 10 cm
 * DATE: 4/4/2008**

In the Point Turn Challenge, the robot had to move forward 25 cm, turn to the left 180 degrees, and then back up 10 cm. The team had to program the robot. We use MINDSTORMS NXT software to do this. We will have to use the movement variables to program the robot and then load the program onto the robot using the cord.
 * A. Description (Short Paragraph):**

Figure 1:The point turn programming
 * B. Programming Code (Picture and Written Explanation):**

Figure 2:programming code and we use it to make out robot do what we ask Figure 2 shows the blocks that the group used to get our robot to do different commands. The blocks shown in this figure are movement blocks, they program the robot to move forward, backwards, or turn. Figure 1 is the different settings that were used for the point turn. In the duration block, degrees was to be on and it had to turn 720 degrees to the left. It was really had because it was really suppose to go 180 degrees but our robot needed more specific instructions.

Figure 1: MAN Robot Before Programming
 * C. Multimedia:**

Figure 2: Difficulties Working the Point Turn media type="custom" key="653513" width="139" height="117"

Figure 3: Troubleshooting for MAN's Robot (Alex) media type="custom" key="671951"

Figure 4: Working Point Turn media type="custom" key="653469" width="128" height="115" The robot was not doing the turn correctly because the program was not right. The robot would not turn a full 180 degrees when 180 was programed into Mindstorm NXT. In order to make it turn enough we had to increase the number of degrees to 720. Once this adjustment was made the robot completed the challenge. Another difficulty we faced was figuring out was how to tell the robot how far to move forward. It was fixed by measuring the circumference of the wheel and dividing that measurement by the amount of centimeters it needs to go forward. That is how the robot was programmed to go forward 25 centimeters by using rotations. These problems were all basic points to programming which were good to conquer because all of them are crucial in more complex programming.
 * D. Difficulties Encountered/How You SOLVED the Challenge! (Paragraph):**

2. Square
Instructions: Your robot must follow the square drawn on the floor at the front of the room.
 * DATE: 4/14/08**

This course is a 2 ft. x 2 ft. square with 90 degree angles at each turn. There are four turns, the robot turning right at each rotation.
 * A. Description:**

In the programming for the square, 7 blocks were used. Every other block was going 3.2 rotations and all the other blocks were doing a point turn 360 degrees. This program was easy because it only involved one type of block. All the blocks were movement blocks.
 * B. Programming Code (Picture and Written Explanation):**

Figure 1: MAN Robot Starting the Square Obstacle Course
 * C. Multimedia:**

Figure 2: MAN Robot Completing the Square Obstacle Course media type="custom" key="669473"

Difficulties encountered while trying to accomplish the square were understanding which way to make the robot turn. The robot was either going the wrong way or going to far. The challenge was solved by hard work to make the programming more accurate.
 * D. Difficulties Encountered/How You SOLVED the Challenge! (Paragraph):**

3. Backing Up
Instruction: Your robot must follow the path drawn on the floor at the front of the room. The robot will go forward make a right hand turn (90) and then back up into a "bay" while making noise.
 * DATE: 4/17/08**

The robot must do a gradual turn and make a abrupt stop completely vertical. After making the stop, it must back up 48 cm. While it is backing up it must make some sort of noise. The gradual turn is 90 degrees.
 * A. Description (Short Paragraph):**

Figure 1: MAN's Backing Up Programming Code
 * B. Programming Code (Picture and Written Explanation):**

Figure 2: Backing Up Code In the programming, the robot had to make a noise while backing up. To make that noise the sound block had to be on a line on it's own as seen in figure 1. This was confusing because it all depended on where you put the blocks to have the sound come out at the correct time. In figure 2, it shows how the team had to make the robot go backwards after stopping after the gradual turn.

Figure 1: Difficulties and Completion (Marion and Nikki) media type="custom" key="682883"
 * C. Multimedia:**

MAN's robot had difficulties completing the gradual turn. This was difficult because the robot did not excel in accuracy. It kept shifting off the course and randomly started to spin. The spinning was solved by making sure that the arrows were not pointed to far down. Another difficulty that was encountered was backing up and making a noise at the same time. That was solved by making a whole new line for the sound block to go in the NXT program. Though we encountered some difficulties during this challenge we overcame them and completed the challenge.
 * D. Difficulties Encountered/How You SOLVED the Challenge! (Paragraph):**

4. Create a Basic Obstacle Course and Program Your Robot to Navigate It!
DATE: 4/18/08 Instructions: 1.) Using tape create a basic obstacle course. It must contain three different turns (any type of turn- point, gradual, etc.) and involve sensing a sound to begin the course (sound sensor), and coming to a stop once it recognizes the finish line (a black line- sight sensor). 2.) You will need to modify your robot to have both a sound and sight sensor. 3.) Draw an image of your course in OneNote and include it in your wiki entry (Snip It). Your drawing should include measurements such that anyone could re-create. You will also want to photograph it or record a video. 4.) Complete this challenge just as you would any other in the wiki. You must remove all tape from the floor at the end of the class period.
 * Fold both end of the tape for easy tape removal.

A. Description (Short Paragraph):** MAN's Obstacle Course consists of 4 turns. At the end of the course there is a large black line on which the robot needs to stop. The robot is connected to the light sensor to sense the darkness of the black tape. The robot itself is modified with a sound sensor and a light sensor that is touching the ground. The light senor is touching the ground because if it wasn't then the robot would not sense the line and stop on it. The last turn that the robot has is a tight turn. After the tight turn the robot must travel until it reaches the black line. This is the end of the course.

Figure 1: MAN's Obstacle Course Programming Code Programming code is the way you get the robot to follow courses and move. The programming code we use is from the NXT software. We drag movement (the green blocks pictured above) blocks onto the screen and program the robot to move a certain distance using them. The other blocks used to program the robot are sensor blocks (the orange block is a light sensor) these sensor blocks can make the robot perform special tasks such as sensing color or sound. Programming code is how the robot is told to complete certain actions. After the robot is programmed using this computer program the programming is downloaded onto the robot and can now perform the programmed tasks.
 * B. Programming Code (Picture and Written Explanation):**

Figure 1: MAN's Obstacle Course
 * C. Multimedia:**

Figure 2: MAN's Robot Completing the Obstacle Course media type="custom" key="682735"

We encountered some problems while completing this challenge with the ultrasonic sensor. This was difficult because MAN's group could not figure out how to adapt the ultrasonic sensor and the NXT program to cooperate together collaboratively. It was very helpful and insightful to collaborate with other groups in order to discover new solutions to making the ultrasonic sensor stop once recognizing the black line. One way the the robot learned to stop was by putting the ultrasonic sensor to the ground and then it could truly see where the black line is, causing it to stop. When the ultrasonic sensor was not pointing directly to the floor it could not sense the black line, so MAN's group had to add onto the robot in order to attach the sensor so it pointed to the ground. MAN's robot also had difficulties continuing to stay directly on the obstacle course lines as it made it's way through the course. It continually scurried off the course when being tested. We solved the robots difficulty with moving off course through putting the programmed movement on brake instead of coast. We conquered our obstacle course through troubleshooting issues.
 * D. Difficulties Encountered/How You SOLVED the Challenge! (Paragraph):**

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. The three times that we got for the challange were 7.81, 7.72, 8.59. The average of this is 8.04. The velocity for this challange is 8.71 cm per sec. For this challange, the software Mindstorms was used. It was used to make the robot go 70 cm at a speed of 30%.

The difficulties MAN's robot had were programming the robot to go all 70 cm. It was difficult to gather the correct information regarding the rotations. If the rotation data was off, the robot would not go all 70 cm.
 * Image1: programming code for task 1**
 * b. Description of what made this task difficult for your group.**

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.

Image:

For task two the group had to make the robot accelerate over a distance of one meter. This challenge was easy once we figured out how to make the robot smoothly transition between speeds.

b. Description of what made this task difficult for your group. At first the group could not figure out how to make a smooth transition between speed blocks creating a problem. It was determined that if the robot was programmed to coast instead of break the robot will smoothly accelerate.

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. The velocity was 13.94. The robot went 170 cm for 12.19 sec. This was how we calculated the velocity. b. Description of what made this task difficult for your group. The task was difficult because it was hard to measure because it went more then a meter.

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.