Question

1. Write a program that allows the robot to do a 90-degree turn (the direction of the turn can be your choosing). There are two way of accomplishing this, the first is to move only one wheel, while the other is to move both wheels simultaneously in opposite directions. Micro:bit Block Coding

Answer 1

#pragma config(CircuitBoardType, typeCktBoardUNO)

#pragma config(UART_Usage, UART0, uartSystemCommPort, baudRate200000, IOPins, dgtl1, dgtl0)

#pragma config(Sensor, dgtl2, rightEncoder,   sensorQuadEncoder)

#pragma config(Sensor, dgtl7, leftEncoder,    sensorQuadEncoder)

#pragma config(Motor, servo_10,        rightServo,    tmotorServoContinuousRotation, openLoop, reversed, IOPins, dgtl10, None)

#pragma config(Motor, motor_11,        leftServo,     tmotorServoContinuousRotation, openLoop, IOPins, dgtl11, None)

//*!!Code automatically generated by 'ROBOTC' configuration wizard              !!*//

void turnLeftDeg(int degrees, int power)

{

//Reset encoders

SensorValue[leftEncoder] = 0;

SensorValue[rightEncoder] = 0;

//Determine tickGoal

int tickGoal = (23 * degrees) / 10;

//Start the motors in a left point turn.

motor[leftServo] = -1 * power;

motor[rightServo] = power;

//Since the wheels may go at slightly different speeds due to manufacturing tolerances, etc.,

//we need to test both encoders and control both motors separately. This may result in one motor

//going for longer than another but it will ultimately result in a much more accurate turn.

while(SensorValue[rightEncoder] < tickGoal || SensorValue[leftEncoder] > -1 * tickGoal) {

    if(SensorValue[rightEncoder] > tickGoal) {motor[rightServo] = 0;}

    if(SensorValue[leftEncoder] < -1 * tickGoal) {motor[leftServo] = 0;}

}

//Make sure both motors stop at the end of the turn.

motor[leftServo] = 0;

motor[rightServo] = 0;

}

void turnRightDeg(int degrees, int power)

{

//Reset encoders

SensorValue[leftEncoder] = 0;

SensorValue[rightEncoder] = 0;

//Determine tickGoal

int tickGoal = (23 * degrees) / 10;

//Start the motors in a left point turn.

motor[leftServo] = power;

motor[rightServo] = -1 * power;

//Since the wheels may go at slightly different speeds due to manufacturing tolerances, etc.,

//we need to test both encoders and control both motors separately. This may result in one motor

//going for longer than another but it will ultimately result in a much more accurate turn.

while(SensorValue[leftEncoder] < tickGoal || SensorValue[rightEncoder] > -1 * tickGoal) {

    if(SensorValue[leftEncoder] > tickGoal) {motor[leftServo] = 0;}

    if(SensorValue[rightEncoder] < -1 * tickGoal) {motor[rightServo] = 0;}

}

//Make sure both motors stop at the end of the turn.

motor[leftServo] = 0;

motor[rightServo] = 0;

}

task main()

{

//Turn right 90 degrees with power 30

turnRightDeg(90,30);

//Wait a bit so the robot's momentum does not effect the next turn

wait1Msec(500);

turnLeftDeg(50,40);

wait1Msec(500);

turnRightDeg(160,20);

wait1Msec(500);

turnLeftDeg(200,30);

}