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CS 141: Introduction To Programming: Dr. Susan Bergin

This document summarizes a lecture on using touch sensors with the RoboCar class. It discusses how to create a RoboCar instance, check if the touch sensor is pressed, and use an infinite loop to continually check the sensor status and move the robot forward or backward depending on the reading. Sample code is provided to initialize the robot, set the motor speed, and move in the loop based on whether the touch sensor is pressed or not. Additional RoboCar methods for moving specific distances are also outlined. Finally, students are tasked with thinking through solutions on paper for navigating around obstacles of known sizes until reaching a red wall of unknown length using only touch sensor feedback.

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62 views10 pages

CS 141: Introduction To Programming: Dr. Susan Bergin

This document summarizes a lecture on using touch sensors with the RoboCar class. It discusses how to create a RoboCar instance, check if the touch sensor is pressed, and use an infinite loop to continually check the sensor status and move the robot forward or backward depending on the reading. Sample code is provided to initialize the robot, set the motor speed, and move in the loop based on whether the touch sensor is pressed or not. Additional RoboCar methods for moving specific distances are also outlined. Finally, students are tasked with thinking through solutions on paper for navigating around obstacles of known sizes until reaching a red wall of unknown length using only touch sensor feedback.

Uploaded by

Adam McCarthy
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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CS 141: Introduction to Programming

Lecture 19

Dr. Susan Bergin


Email: [email protected]
Room 2.108, Callan Building,
Department of Computer Science, NUI Maynooth

Robots Revisited

What do you need to know about the


RoboCar class?
You need to know how to create an instance of
a RoboCar
You need to know how to use the methods
covered in lectures and in labs

Moving on to the sensors

The NXT comes with a number of sensors and


were going to use the touch sensor.
The touch sensor should be plugged into Port 1 of
the NXT brick (see RoboCar API).
The method to check if the sensor has been
pressed is the following:
! robot.touchSensorIsPressed();

Using the touch sensor - example


if(touch sensor is pressed)!
{!
! // Do something e.g. reverse the robot!
}!
else!
{!
! // Do something different e.g. go Forward!
}!

Touch sensor in action..


public class TouchRobot {!
! public static void main(String[] args) !
! !
RoboCar robot = new RoboCar();!
! !
robot.setMotorSpeed(360);!
! !
!
! !
if(robot.touchSensorIsPressed())!
! !
{!
! !
robot.moveBackward(1000);!
! !
}!
! !
else!
! !
{!
! !
robot.moveForward(1000);!
! !
} !
}!
}!

But how do you get the program to continually check the selection statment?

{!

Fixing this with a loop


while(true)// creates an infinite loop!
{!
! ! if(robot.touchSensorIsPressed())!
! ! {!
! ! !
robot.moveBackward(1000);!
! ! }!
! ! else!
! ! {!
! ! !
robot.moveForward(1000);!
! ! }!
}!

Putting It Together
public class TouchRobotLoop1{!
! public static void main(String[] args) {!
! !
RoboCar robot = new RoboCar();!
! !
robot.setMotorSpeed(360);!
! !
while(true)!
! !
{!
! !
!
if ( robot.touchSensorIsPressed() )!
! !
!
{!
! !
!
!
robot.moveBackward(1000);!
! !
!
}!
! !
!
else!
! !
!
{!
! !
!
!
robot.moveForward(1000);!
! !
!
}!
! !
}!
! }!
}!

More methods

moveForwardForDistance(float distance)

Method to move RoboCar forward the specified


distance (approximately).

moveBackwardForDistance(float distance

Method to move RoboCar backward the


specified distance (approximately).

Something to think about..


How

would you solve this problem?


The robot needs to drive forward
for an unknown distance until it
hits an obstacle. It then needs to
navigate around the obstacle
(distances specified) and continue
again until it hits the red wall. Try
solving this on paper now!
What if you dont know in advance
how many obstacles there are
before the red wall but you know
that all the obstacles are all the
same size and the red wall is
much longer. Try solving this on
paper now!

Preparing for your January exam

Lets begin to work through an exam paper


together

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