Microduino MIXC104E KIT-mCookie-Education User Manual MIX4 Book 02202018 SS indd

Microduino Inc. KIT-mCookie-Education MIX4 Book 02202018 SS indd

UserManual.wiki >

Microduino >

MIXC104E User Manual >

User manual Part 2 HTML Version

1. User Manual Part 1
2. User manual Part 2

User manual Part 2

156

Project Worksheet

Complete the worksheet below to your best abilities.

1. A solution.

2. List all the parts needed for the solution. What is the purpose of each part?

3. What is a simple explanation of the logic for the solution?

4. Create a ow chart of the solution.

5. How do you assemble and connect the modules for the solution?

6. Congure blocks to relate to the ow chart.

Use two Motors to move the car. Use the Joystick to receive input from the user to go straight, turn left or right.

Adjust the speed of the Motors accordingly.

157

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part?

1x mCenter+ - control the project, connect sensors and trinkets to project, and supply power.

1x Hub Connector Cable - connect sensors and trinkets to the mCenter+.

1x USB Cable - connect mCenter+ to a computer for charging and programming the project.

2x Motor - to move the RC car.

1x Motor Controller - controls and drives the attached motors.

1x Joystick - to the direction of the RC car.

2x Wheel - attach to motor.

158

Project Worksheet - Answers

3. What is a simple explanation of the logic for the solution?

Use two Motors to move the RC car.

Use the Joystick to input the direction to move the car (left, right, up, down).

Depending on the Joystick’s direction being held down:

• Up - move car forward (both motors rotating forward).

• Down - move car backward (both motors rotating backwards).

• Left - move car left (motor 1 rotating forward slowly, motor 2 rotating forward fast).

• Right - move car right (motor 1 rotating forward fast, motor 2 rotating forward slowly).

• None - stop car (both motors turned o).

For Left and Right directions, the dierence in motor speeds causes the car to turn.

Turning Left Turning RightForward

159

Project Worksheet - Answers

4. Create a ow chart of the solution.

Start

Set variable for motor speed

Is Joystick "Up"

being pressed?

Is Joystick "Down"

being pressed?

Is Joystick "Left"

being pressed?

Is Joystick "Right"

being pressed?

Set motors to move

RC car forward

Set motors to move

RC car backward

Set motors to turn

RC car left

Set motors to turn

RC car right

Set motors to off

(stop RC car)

Short delay

Loop

forever.

True

False

160

Project Worksheet - Answers

5. How do you assemble and connect the modules for the solution?

1. Stack the Motor Controller onto mCenter+.

2. Connect a Motor to connector “1A1B” on the Motor Controller.

3. Connect a Motor to connector “2A2B” on the Motor Controller.

4. Connect the Joystick to pin A0/A1.

5. Insert one end of the USB cable into mCenter+ and connect the other to a computer.

D2/D3

D8/D9

I2C A2/A3

I2C

D4/D5

A6/A7

A0/A1

I2C

D6/D7

161

Project Worksheet - Answers

6. Congure blocks to relate to the ow chart.

Start

Set variable for motor speed

Is Joystick "Up"

being pressed?

Is Joystick "Down"

being pressed?

Is Joystick "Left"

being pressed?

Is Joystick "Right"

being pressed?

Set motors to move

RC car forward

Set motors to move

RC car backward

Set motors to turn

RC car left

Set motors to turn

RC car right

Set motors to off

(stop RC car)

Short delay

Loop

forever.

True

False

162

The Script Block Locator

Loop.

Click Green Flag to activate script.

Short delay before looping.

Set the variable for the speed of the motors.

Check if the Joystick (pin A0) “Up” key is being pressed.

Check if the Joystick (pin A0) “Right” key is being pressed.

Check if the Joystick (pin A0) “Left” key is being pressed.

Check if the Joystick (pin A0) “Down” key is being pressed.

Set motors to move car forward.

Set motors to move car backward.

Set motors to turn car left.

Set motors to turn car right.

Otherwise (no key being pressed), turn motors o.

Control

Events

mCookie

Data

Operators

(Create “motor_speed” variable

rst in the variable tab.)

163

Click the green

ag to activate

the script.

1. Press and hold the Joystick in the Up,

Down, Left or Right position.

2. The Motors will turn accordingly to move

the RC car.

Testing the Program

Important:

• Ensure that mCenter+ is on. Flip the switch on mCenter+

to turn it on. An LED on mCenter+ will light up to indicate

power is being supplied.

• Ensure you have selected the Serial Port and ashed the

special rmware (mCookie) rst before testing (this only

needs to be done once unless the rmware is overwritten).

• Ensure you have selected the Serial Port and connected

before testing.

Flash rmware

Select Serial Port

Testing:

Note: If the program is working correctly and you wish to use the program without being connected to your computer. Switch to Arduino mode

(top right), then “Flash Program” (this overrides the special rmware, you will need to reash to use Live mode).

164

Create a Structure

Create a structure for the project using building blocks, paper, or other crafting materials.

165

Project Challenge

How can you modify the speed in which the car moves?

Adjust the turning radius (quicker turning).

Add another Joystick input (“Center” pressing).

Make this input to cause the car to spin (motor 1 forward, motor 2 backward).

166

Review

Motor Controller - controls and drives attached motors. Can control up to 2 motors.

Motor - converts electrical energy into mechanical energy in the form of torque.

Motor - Set Speed block - set the speed of a motor.

Wheel - attaches to the Motor.

Joystick - input module (sensor) which can detect the position of the stick (up, down, left, right

center (press)).

Joystick State block - returns TRUE if the position of the stick state matches the checking state.

Otherwise returns FALSE.

167

Expanding the Project

Research

Write down a way of expanding this project. Create it on your own.

Research more about the history of RC cars. Besides being controllable directly by a wired

Joystick, what other methods are used to control RC cars?

__________________________________________________________

168

Safety Car

MIX 4 - Project 7

(Old Cards: MIX4B-02)

169

A collision avoidance system is an automobile safety system designed to reduce the severity of a collision.

It is also known as a precrash system, forward collision warning system, or collision mitigating system. It

uses radar (all-weather) and sometimes laser (LIDAR) and camera (employing image recognition) to de-

tect an imminent crash. GPS sensors can detect xed dangers such as approaching stop signs through a

location database.

Once the detection is done, these systems either provide a warning to the driver when there is an im-

minent collision or take action autonomously without any driver input (by braking or steering or both).

Collision avoidance by braking is appropriate at low vehicle speeds (e.g. below 50 km/h), while collision

avoidance by steering is appropriate at higher vehicle speeds. Cars with collision avoidance may also be

equipped with adaptive cruise control, and use the same forward-looking sensors.

Source: https://en.wikipedia.org/wiki/Collision_avoidance_system

About Collision Avoidance

170

Review of Modules

Usage

The Line Finder module is able to detect reectivity or gray level of a surface. In gen-

eral, darker or less reective surfaces produces a higher value. While a lighter or more

reective surface produces a lower value. It must be connected to a pin with an

“A” prex (A0/A1, A2/A3, A6/A7).

Line Finder

Analog Read block

This block returns the value that the Line Finder detects. A value between 0 and 1023 is

returned.

Pin that Line Finder

is connected to.

0 1023

Darker,

less reective surfaces.

Lighter,

more reective surfaces.

Surface Reectivity

Value Returned

171

Review of Modules

A Motor is a electrical machine which converts electrical energy to mechanical energy. It

is capable of rotating clockwise and counter clockwise. It is controlled by a Motor Con-

troller. A Motor Controller can control up to two Motors. A Wheel can be attached to the

Motor.

Motor

Motor Controller Wheel

Motor - Set Speed block

This block sets the speed of the motor. Positive values turns the Motor in one direc-

tion. While negative values turns the Motor in the opposite direction. A value of 0

stops the Motor. Values between -255 and 255 are accepted. 255 is maximum clock-

wise speed. -255 is maximum counter-clockwise speed.

Motor - Brake block

This block sets the speed to 0 to stop the Motor.

Motor to congure.

Speed to set.

172

Review of Blocks

Addition Block

This block returns the sum of the left input and right input.

Division Block

This block returns the value of dividing the left input by the right input.

Multiplication Block

This block returns the product of the left input and right input.

Subtraction Block

This block returns the value of subtracting the left input by the right input.

Less Than Block

This block returns TRUE if the left input is less than the right input.

Equal Block

This block returns TRUE if the left input is equal to the right input.

Greater Than Block

This block returns TRUE if the left input is greater than the right input.

173

Review of Concepts

Creating a Variable in Scratch

Click on the “Variable” category.

Then click on the “Create variable...” button.

Name your variable.

174

Review of Concepts

Creating a Variable in Scratch (continued)

Several new blocks will appear which allows

access and modication of the new variable.

Variable Value block

Variable Set block

Variable Change block

This block returns the current value of the variable.

This block sets the value of the variable. It will overwrite the current value.

This block changes the variable value by adding the input value (negative values or blocks are accepted).

input value

175

The Problem

How can we create an autonomous car which moves forward until it reaches an

object, then moves backwards until it reaches an object, then repeats?

176

Project Worksheet

Complete the worksheet below to your best abilities.

1. A solution.

2. List all the parts needed for the solution. What is the purpose of each part?

3. What is a simple explanation of the logic for the solution?

4. Create a ow chart of the solution.

5. How do you assemble and connect the modules for the solution?

6. Congure blocks to relate to the ow chart.

Use two Line Finders to detect obstacles (objects) in the front and back of the car. Use two motors to move the

car.

177

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part?

1x mCenter+ - control the project, connect sensors and trinkets to project, and supply power.

2x Hub Connector Cable - connect sensors and trinkets to the mCenter+.

1x USB Cable - connect mCenter+ to a computer for charging and programming the project.

2x Motor - to move the RC car.

1x Motor Controller - controls and drives the attached motors.

2x Wheel - attach to motor.

2x Line Finder - detect objects in the front and back of the car.

178

Project Worksheet - Answers

3. What is a simple explanation of the logic for the solution?

Use two Motors to move the RC car.

Use two Line Finders (one in front, one in back) to detect objects in the way.

Move forward until an object is detected (Line Finder in front value < 700).

Move backward until an object is detected (Line Finder in back value < 700).

Repeat.

179

Project Worksheet - Answers

4. Create a ow chart of the solution.

Start

Set variable for motor speed

Short delay

Line Finder (front)

doesn’t detect an object

Line Finder (back)

doesn’t detect an object

Set motors to move

RC car forward

Set motors to move

RC car backward

Short delay

True

False

Loop

forever.

180

Project Worksheet - Answers

5. How do you assemble and connect the modules for the solution?

1. Stack the Motor Controller onto mCenter+.

2. Connect a Motor to connector “1A1B” on the Motor Controller.

3. Connect a Motor to connector “2A2B” on the Motor Controller.

4. Connect a Line Finder to pin A0/A1.

5. Connect a Line Finder to pin A2/A3.

6. Insert one end of the USB cable into mCenter+ and connect the other to a computer.

D2/D3

D8/D9

I2C A2/A3

I2C

D4/D5

A6/A7

A0/A1

I2C

D6/D7

181

Project Worksheet - Answers

6. Congure blocks to relate to the ow chart.

Start

Set variable for motor speed

Short delay

Line Finder (front)

doesn’t detect an object

Line Finder (back)

doesn’t detect an object

Set motors to move

RC car forward

Set motors to move

RC car backward

Short delay

True

False

Loop

forever.

182

The Script Block Locator

Loop.

Click Green Flag to activate script.

Short delay before looping.

(Create “motor_speed” variable

rst in the variable tab.)

Set the variable for the speed of the motors.

Repeat until Line Finder (A0)

in front detects an object.

Repeat until Line Finder (A2)

in back detects an object.

Short delay before looping.

Set motors to move car forward.

Set motors to move car backward.

Control

Events

mCookie

Data

Operators

Arduino

183

Click the green

ag to activate

the script.

1. The car will move forward until the Line Finder (front) detects an object.

2. The car will then move backward until the Line Finder (back) detects an object.

3. Repeat.

Testing the Program

Important:

• Ensure that mCenter+ is on. Flip the switch on mCenter+

to turn it on. An LED on mCenter+ will light up to indicate

power is being supplied.

• Ensure you have selected the Serial Port and ashed the

special rmware (mCookie) rst before testing (this only

needs to be done once unless the rmware is overwritten).

• Ensure you have selected the Serial Port and connected

before testing.

Flash rmware

Select Serial Port

Testing:

Note: If the program is working correctly and you wish to use the program without being connected to your computer. Switch to Arduino mode

(top right), then “Flash Program” (this overrides the special rmware, you will need to reash to use Live mode).

184

Create a Structure

Create a structure for the project using building blocks, paper, or other crafting materials.

185

Project Challenge

Modify the script to use “If Else” blocks instead of “Repeat Until” blocks.

Add a third condition check to stop the car if both Line Finders detect an object.

186

Review

Motor Controller - controls and drives attached motors. Can control up to 2 motors.

Motor - converts electrical energy into mechanical energy in the form of torque.

Motor - Set Speed block - set the speed of a motor.

Wheel - attaches to the Motor.

Line Finder - detects the reective surface or distance of an object.

Analog Read block - returns the value of the reective surface from the Line Finder sensor.

187

Expanding the Project

Research

Write down a way of expanding this project. Create it on your own.

Research more about obstacle avoidance systems in cars.

What are some interesting techniques that are used in these systems?

__________________________________________________________

188

Delivery Truck

MIX 4 - Project 8

(Old Cards: MIX4B-03)

189

Delivery is the process of transporting goods from a source location to a predened destination. There are

dierent delivery types. Cargo (physical goods) are primarily delivered via roads and railroads on land,

shipping lanes on the sea and airline networks in the air. Certain specialized goods may be delivered via

other networks, such as pipelines for liquid goods, power grids for electrical power and computer net-

works such as the Internet or broadcast networks for electronic information.

The general process of delivering goods is known as distribution. The study of eective processes for

delivery and disposition of goods and personnel is called logistics. Firms that specialize in delivering com-

mercial goods from point of production or storage to point of sale are generally known as distributors,

while those that specialize in the delivery of goods to the consumer are known as delivery services. Post-

al, courier, and relocation services also deliver goods for commercial and private interests.

Source: https://en.wikipedia.org/wiki/Delivery_(commerce)

About Deliveries

190

Review of Modules

Usage

The Line Finder module is able to detect reectivity or gray level of a surface. In gen-

eral, darker or less reective surfaces produces a higher value. While a lighter or more

reective surface produces a lower value. It must be connected to a pin with an

“A” prex (A0/A1, A2/A3, A6/A7).

Line Finder

Analog Read block

This block returns the value that the Line Finder detects. A value between 0 and 1023 is

returned.

Pin that Line Finder

is connected to.

0 1023

Darker,

less reective surfaces.

Lighter,

more reective surfaces.

Surface Reectivity

Value Returned

191

Review of Modules

A Potentiometer is a input module which can be turned or rotated right or left. Based

on the position of the knob, it produces a dierent signal value for the Core module to

read. It must be connected to an analog port (ports denoted with “A”).

Analog Read block

This block returns the value from the Potentiometer. A value between 0 and 1023 is returned.

If the potentiometer is turned all the way to the left, it produces a 0 value. If it is turned all

the way tot the right, it produces a 1023 value. In the middle it produces a value around 512.

Potentiometer

Pin the Potentiometer

is connected to.

0 1023

192

Review of Modules

A Motor is a electrical machine which converts electrical energy to mechanical energy. It

is capable of rotating clockwise and counter clockwise. It is controlled by a Motor Con-

troller. A Motor Controller can control up to two Motors. A Wheel can be attached to the

Motor.

Motor

Motor Controller Wheel

Motor - Set Speed block

This block sets the speed of the motor. Positive values turns the Motor in one direc-

tion. While negative values turns the Motor in the opposite direction. A value of 0

stops the Motor. Values between -255 and 255 are accepted. 255 is maximum clock-

wise speed. -255 is maximum counter-clockwise speed.

Motor - Brake block

This block sets the speed to 0 to stop the Motor.

Motor to congure.

Speed to set.

193

Review of Blocks

Addition Block

This block returns the sum of the left input and right input.

Division Block

This block returns the value of dividing the left input by the right input.

Multiplication Block

This block returns the product of the left input and right input.

Subtraction Block

This block returns the value of subtracting the left input by the right input.

Less Than Block

This block returns TRUE if the left input is less than the right input.

Equal Block

This block returns TRUE if the left input is equal to the right input.

Greater Than Block

This block returns TRUE if the left input is greater than the right input.

194

Review of Concepts

Creating a Variable in Scratch

Click on the “Variable” category.

Then click on the “Create variable...” button.

Name your variable.

195

Review of Concepts

Creating a Variable in Scratch (continued)

Several new blocks will appear which allows

access and modication of the new variable.

Variable Value block

Variable Set block

Variable Change block

This block returns the current value of the variable.

This block sets the value of the variable. It will overwrite the current value.

This block changes the variable value by adding the input value (negative values or blocks are accepted).

input value

196

The Problem

How can we create a delivery truck with adjustable speeds?

Which waits for something to be loaded, then drives it to the destination, waits for

it to be unloaded, then drives back.

197

Project Worksheet

Complete the worksheet below to your best abilities.

1. A solution.

2. List all the parts needed for the solution. What is the purpose of each part?

3. What is a simple explanation of the logic for the solution?

4. Create a ow chart of the solution.

5. How do you assemble and connect the modules for the solution?

6. Congure blocks to relate to the ow chart.

Use two motors to move the delivery truck. Use a Line Finder to detect if cargo is present or not. Use a Line

Finder (front) to check if the destination is reached. Use a Line Finder (back) to check if returned back to base.

Use a Potentiometer to adjust the speed of the truck.

198

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part?

1x mCenter+ - control the project, connect sensors and trinkets to project, and supply power.

5x Hub Connector Cable - connect sensors and trinkets to the mCenter+.

1x USB Cable - connect mCenter+ to a computer for charging and programming the project.

2x Motor - to move the delivery truck.

1x Motor Controller - controls and drives the attached motors.

2x Wheel - attach to motor.

3x Line Finder - detect objects in the front and back of the car and if cargo is present.

1x Potentiometer - to adjust speed of the truck.

1x IO Splitter - to connect two sensors/trinkets to a single connector.

199

Project Worksheet - Answers

3. What is a simple explanation of the logic for the solution?

Use two Motors to move the delivery truck.

Use a Line Finder in the cargo holding location to detect if cargo is loaded or unloaded.

Use a Line Finder in the front to detect if the destination has been reached.

Use a Line Finder in the back to detect if returned to base.

Use a Potentiometer to adjust the speed of the delivery truck.

Wait until cargo is loaded onto truck (Line Finder in cargo holding < 200).

Wait 1 second before driving to destination.

Move forward* until destination is reached (Line Finder in front < 700).

Wait until cargo is unloaded from truck (Line Finder in cargo holding > 400).

Wait 1 second before driving back to base.

Move backward* until back to base (Line Finder in back < 700).

*When setting the speed to move forward or backward, read the Potentiometer (value between 0 and 1023) rst,

then scale (divide by 4, 1023/4 =~ 255) and use that as the speed.

200

Project Worksheet - Answers

4. Create a ow chart of the solution.

Start

Set variable for motor speed

Set motors to off

(stop the truck)

Wait until cargo is loaded

Short delay before

driving to destination

Read and store Potentiometer

and scale it for motor speed

Set motors to move

truck forward

Set motors to move

truck backward

Wait until truck has

reach its destination

Set motors to off

(stop the truck)

Wait until cargo is unloaded

Short delay before

driving back to base

Wait until truck has

reach back to base

Loop

forever.

201

Project Worksheet - Answers

5. How do you assemble and connect the modules for the solution?

1. Stack the Motor Controller onto mCenter+.

2. Connect a Motor to connector “1A1B” on the Motor Controller.

3. Connect a Motor to connector “2A2B” on the Motor Controller.

4. Connect a Line Finder to pin A2/A3.

5. Connect a Potentiometer to pin A6/A7

6. Connect two Line Finders to an IO Splitter. Connect the IO Splitter to pin A0/A1.

7. Insert one end of the USB cable into mCenter+ and connect the other to a computer.

D2/D3

D8/D9

I2C A2/A3

I2C

D4/D5

A6/A7

A0/A1

I2C

D6/D7

IN B

202

Project Worksheet - Answers

6. Congure blocks to relate to the ow chart.

Start

Set variable for motor speed

Set motors to off

(stop the truck)

Wait until cargo is loaded

Short delay before

driving to destination

Read and store Potentiometer

and scale it for motor speed

Set motors to move

truck forward

Set motors to move

truck backward

Wait until truck has

reach its destination

Set motors to off

(stop the truck)

Wait until cargo is unloaded

Short delay before

driving back to base

Wait until truck has

reach back to base

Loop

forever.

203

The Script Block Locator

Loop.

Click Green Flag to activate script.

Wait until Line Finder (A2) in back detects returning to base.

(Create “motor_speed” variable

rst in the variable tab.)

Control

Events

mCookie

Data

Operators

Arduino

Set the variable for the speed of the motors.

Turn motors o (stop the truck).

Wait until Line Finder (A0) detects cargo (loaded).

Wait 1 second before driving to destination.

Wait 1 second before driving back to base.

Scale and store Potentiometer (pin A6) value to motor speed.

Set motors to move truck forward.

Set motors to move truck backward.

Wait until Line Finder (A1) in front detects reaching destination.

Turn motors o (stop the truck).

Wait until Line Finder (A0) detects no cargo (unloaded).

204

Click the green

ag to activate

the script. 1. Load cargo into the truck.

2. The truck will then move forward until it research its

destination (object blocking its path in the front).

3. Truck will stop and wait until cargo is unloaded.

4. The truck will then move backward until it research

its base (object blocking its path in the back).

Line Finder (pin A0)

Line Finder (pin A1)

Line Finder (pin A2)

Testing the Program

Important:

• Ensure that mCenter+ is on. Flip the switch on mCenter+

to turn it on. An LED on mCenter+ will light up to indicate

power is being supplied.

• Ensure you have selected the Serial Port and ashed the

special rmware (mCookie) rst before testing (this only

needs to be done once unless the rmware is overwritten).

• Ensure you have selected the Serial Port and connected

before testing.

Flash rmware

Select Serial Port

Testing:

Note: If the program is working correctly and you wish to use the program without being connected to your computer. Switch to Arduino mode

(top right), then “Flash Program” (this overrides the special rmware, you will need to reash to use Live mode).

205

Create a Structure

Create a structure for the project using building blocks, paper, or other crafting materials.

206

Project Challenge

Add a Color LED to your project.

Turn set the Color LED’s based on the state the delivery truck.

(Examples: loaded cargo, stopped, moving, unloaded cargo.)

207

Review

Motor Controller - controls and drives attached motors. Can control up to 2 motors.

Motor - converts electrical energy into mechanical energy in the form of torque.

Motor - Set Speed block - set the speed of a motor.

Wheel - attaches to the Motor.

Line Finder - detects the reective surface or distance of an object.

Analog Read block - returns the value of the reective surface from the Line Finder sensor.

Potentiometer - input module with an adjustable knob.

Analog Read block - reads the value from the potentiometer. Returns a value between 0 and

1023.

208

Expanding the Project

Research

Write down a way of expanding this project. Create it on your own.

Research more about delivery trucks.

What are some important things delivery trucks must accomplish to be protable?

__________________________________________________________

209

Obstacle Avoidance Car

MIX 4 - Project 9

(Old Cards: MIX4B-04)

210

In robotics, obstacle avoidance is the task of satisfying some control objective subject to non-intersection

or non-collision position constraints.

What is critical about obstacle avoidance concept in this area is the growing need of usage of unmanned

aerial vehicles in urban areas for especially military applications where it can be very useful in city wars.

Normally obstacle avoidance is considered to be distinct from path planning in that one is usually imple-

mented as a reactive control law while the other involves the pre-computation of an obstacle-free path

which a controller will then guide a robot along.

Source: https://en.wikipedia.org/wiki/Obstacle_avoidance

About Obstacle Avoidance

211

Review of Modules

Usage

The Line Finder module is able to detect reectivity or gray level of a surface. In gen-

eral, darker or less reective surfaces produces a higher value. While a lighter or more

reective surface produces a lower value. It must be connected to a pin with an

“A” prex (A0/A1, A2/A3, A6/A7).

Line Finder

Analog Read block

This block returns the value that the Line Finder detects. A value between 0 and 1023 is

returned.

Pin that Line Finder

is connected to.

0 1023

Darker,

less reective surfaces.

Lighter,

more reective surfaces.

Surface Reectivity

Value Returned

212

Review of Modules

A Potentiometer is a input module which can be turned or rotated right or left. Based

on the position of the knob, it produces a dierent signal value for the Core module to

read. It must be connected to an analog port (ports denoted with “A”).

Analog Read block

This block returns the value from the Potentiometer. A value between 0 and 1023 is returned.

If the potentiometer is turned all the way to the left, it produces a 0 value. If it is turned all

the way tot the right, it produces a 1023 value. In the middle it produces a value around 512.

Potentiometer

Pin the Potentiometer

is connected to.

0 1023

213

Review of Modules

A Motor is a electrical machine which converts electrical energy to mechanical energy. It

is capable of rotating clockwise and counter clockwise. It is controlled by a Motor Con-

troller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the

Motor.

Motor

Motor Controller Wheel

Motor - Set Speed block

This block sets the speed of the motor. Positive values turns the Motor in one direc-

tion. While negative values turns the Motor in the opposite direction. A value of 0

stops the Motor. Values between -255 and 255 are accepted. 255 is maximum clock-

wise speed. -255 is maximum counter-clockwise speed.

Motor - Brake block

This block sets the speed to 0 to stop the Motor.

Motor to congure.

Speed to set.

214

Review of Blocks

Addition Block

This block returns the sum of the left input and right input.

Division Block

This block returns the value of dividing the left input by the right input.

Multiplication Block

This block returns the product of the left input and right input.

Subtraction Block

This block returns the value of subtracting the left input by the right input.

Less Than Block

This block returns TRUE if the left input is less than the right input.

Equal Block

This block returns TRUE if the left input is equal to the right input.

Greater Than Block

This block returns TRUE if the left input is greater than the right input.

215

Review of Concepts

Creating a Variable in Scratch

Click on the “Variable” category.

Then click on the “Create variable...” button.

Name your variable.

216

Review of Concepts

Creating a Variable in Scratch (continued)

Several new blocks will appear which allows

access and modication of the new variable.

Variable Value block

Variable Set block

Variable Change block

This block returns the current value of the variable.

This block sets the value of the variable. It will overwrite the current value.

This block changes the variable value by adding the input value (negative values or blocks are accepted).

input value

217

The Problem

How can we create a car which can detect and avoid objects in the way?

218

Project Worksheet

Complete the worksheet below to your best abilities.

1. A solution.

2. List all the parts needed for the solution. What is the purpose of each part?

3. What is a simple explanation of the logic for the solution?

4. Create a ow chart of the solution.

5. How do you assemble and connect the modules for the solution?

6. Congure blocks to relate to the ow chart.

Use two motors to move the car. Use 4 Line Finder positioned in front of the car to detect oncoming objects.

Use this information to steer the car away to avoid the object. Use a Potentiometer to set the motor speeds.

219

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part?

1x mCenter+ - control the project, connect sensors and trinkets to project, and supply power.

7x Hub Connector Cable - connect sensors and trinkets to the mCenter+.

1x USB Cable - connect mCenter+ to a computer for charging and programming the project.

2x Motor - to move the car.

1x Motor Controller - controls and drives the attached motors.

2x Wheel - attach to motor.

4x Line Finder - detect objects oncoming objects.

1x Potentiometer - to adjust speed of the car.

2x IO Splitter - to connect two sensors/trinkets to a single connector.

220

Project Worksheet - Answers

3. What is a simple explanation of the logic for the solution?

Use two Motors to move the car.

Use 4 Line Finders placed in front of the car to detect oncoming objects.

Use a Potentiometer to set the speed of the car.

S0, S1, S2, S3 are the 4 Line Finders placed in front of the car.

If S0 detects an object, steer to the right.

Else if S1 detects an object, steer to the right.

Else if S2 detects an object, steer to the left.

Else if S3 detects an object, steer to the left.

Else no objects are detected, go forward.

S0 S1 S2 S3

S0 S1 S2 S3 S0 S1 S2 S3

221

Project Worksheet - Answers

4. Create a ow chart of the solution.

Start

Read and store Potentiometer

and scale it for motor speed

Read and store Line Finder

values

Is there an object detected on

the left most side (S0)?

Is there an object detected on

the left middle side (S1)?

Is there an object detected on

the right most side (S3)?

Is there an object detected on

the right middle side (S2)?

Set motors to

turn car right

Set motors to

turn car right

Set motors to

turn car left

Set motors to

turn car left

Otherwise there is no obstacle,

set motors to go forward

Short delay

Loop

forever.

True

False

222

Project Worksheet - Answers

5. How do you assemble and connect the modules for the solution?

1. Stack the Motor Controller onto mCenter+.

2. Connect a Motor to connector “1A1B” on the Motor Controller.

3. Connect a Motor to connector “2A2B” on the Motor Controller.

4. Connect a Potentiometer to pin A6/A7

5. Connect two Line Finders to an IO Splitter. Connect the IO Splitter to pin A0/A1.

6. Connect two Line Finders to an IO Splitter. Connect the IO Splitter to pin A2/A3.

7. Insert one end of the USB cable into mCenter+ and connect the other to a computer.

D2/D3

D8/D9

I2C A2/A3

I2C

D4/D5

A6/A7

I2C

D6/D7

A0/A1

IN B

223

Project Worksheet - Answers

6. Congure blocks to relate to the ow chart.

Start

Read and store Potentiometer

and scale it for motor speed

Read and store Line Finder

values

Is there an object detected on

the left most side (S0)?

Is there an object detected on

the left middle side (S1)?

Is there an object detected on

the right most side (S3)?

Is there an object detected on

the right middle side (S2)?

Set motors to

turn car right

Set motors to

turn car right

Set motors to

turn car left

Set motors to

turn car left

Otherwise there is no obstacle,

set motors to go forward

Short delay

Loop

forever.

True

False

224

The Script Block Locator

Loop.

Click Green Flag to activate script.

Short delay before looping.

(Create these variables

rst in the variable tab.)

Control

Events

mCookie

Data

Operators

Arduino

Scale and store Potentiometer (pin A6) value to motor speed.

Read and store Line Finder (pin A0) value.

Read and store Line Finder (pin A1) value.

Read and store Line Finder (pin A2) value.

Read and store Line Finder (pin A3) value.

Check if there is an oncoming object on the left most side.

Check if there is an oncoming object on the left center side.

Check if there is an oncoming object on the right center side.

Check if there is an oncoming object on the right most side.

Otherwise no coming objects.

Set motors to move car forward.

Set motors to turn car left.

Set motors to turn car right.

225

Click the green

ag to activate

the script.

Ensure Line Finders are

in the correct position.

S0 S1 S2 S3

Car will automatically

avoid oncoming objects

by steering left or right.

Speed can be adjusted

with the Potentiometer.

Testing the Program

Important:

• Ensure that mCenter+ is on. Flip the switch on mCenter+

to turn it on. An LED on mCenter+ will light up to indicate

power is being supplied.

• Ensure you have selected the Serial Port and ashed the

special rmware (mCookie) rst before testing (this only

needs to be done once unless the rmware is overwritten).

• Ensure you have selected the Serial Port and connected

before testing.

Flash rmware

Select Serial Port

Testing:

Note: If the program is working correctly and you wish to use the program without being connected to your computer. Switch to Arduino mode

(top right), then “Flash Program” (this overrides the special rmware, you will need to reash to use Live mode).

226

Create a Structure

Create a structure for the project using building blocks, paper, or other crafting materials.

227

Project Challenge

Adjust the script so the car turns slightly right when it detects an object on the left

most side (S0).

Adjust the script so the car turns slightly left when it detects an object on the right

most side (S3).

228

Review

Motor Controller - controls and drives attached motors. Can control up to 2 motors.

Motor - converts electrical energy into mechanical energy in the form of torque.

Motor - Set Speed block - set the speed of a motor.

Wheel - attaches to the Motor.

Line Finder - detects the reective surface or distance of an object.

Analog Read block - returns the value of the reective surface from the Line Finder sensor.

Potentiometer - input module with an adjustable knob.

Analog Read block - reads the value from the potentiometer. Returns a value between 0 and

1023.

229

Expanding the Project

Research

Write down a way of expanding this project. Create it on your own.

Research more about obstacle avoidance.

Why is this an important feature in safe driving cars?

__________________________________________________________

230

Edge Avoidance Car

MIX 4 - Project 10

(Old Cards: MIX4B-06)

231

If you put the a cleaning robot on a desk it won’t fall onto the ground, because

there are sensors detecting distance from the ground at the bottom of it.

Source: https://en.wikipedia.org/wiki/Obstacle_avoidance

About Edge Detection

232

Review of Modules

Usage

The Line Finder module is able to detect reectivity or gray level of a surface. In gen-

eral, darker or less reective surfaces produces a higher value. While a lighter or more

reective surface produces a lower value. It must be connected to a pin with an

“A” prex (A0/A1, A2/A3, A6/A7).

Line Finder

Analog Read block

This block returns the value that the Line Finder detects. A value between 0 and 1023 is

returned.

Pin that Line Finder

is connected to.

0 1023

Darker,

less reective surfaces.

Lighter,

more reective surfaces.

Surface Reectivity

Value Returned

233

Review of ModulesReview of Modules

A Motor is a electrical machine which converts electrical energy to mechanical energy. It

is capable of rotating clockwise and counter clockwise. It is controlled by a Motor Con-

troller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the

Motor.

Motor

Motor Controller Wheel

Motor - Set Speed block

This block sets the speed of the motor. Positive values turns the Motor in one direc-

tion. While negative values turns the Motor in the opposite direction. A value of 0

stops the Motor. Values between -255 and 255 are accepted. 255 is maximum clock-

wise speed. -255 is maximum counter-clockwise speed.

Motor - Brake block

This block sets the speed to 0 to stop the Motor.

Motor to congure.

Speed to set.

234

Review of Blocks

Addition Block

This block returns the sum of the left input and right input.

Division Block

This block returns the value of dividing the left input by the right input.

Multiplication Block

This block returns the product of the left input and right input.

Subtraction Block

This block returns the value of subtracting the left input by the right input.

Less Than Block

This block returns TRUE if the left input is less than the right input.

Equal Block

This block returns TRUE if the left input is equal to the right input.

Greater Than Block

This block returns TRUE if the left input is greater than the right input.

235

Review of Concepts

Booleans

Booleans are a type of data, which can only either be TRUE or FALSE. Booleans are used in the condition checks

on blocks such as the “If”, “If Else”, “Wait Until” blocks.

Boolean Operators

Boolean Operators enables performing operations on boolean types. It is useful for testing multiple conditions.

Left Input Right Input Result

True True True

True False False

False True False

False False False

Left Input Right Input Result

True True True

True False True

False True True

False False False

Input Result

True False

False True

And block

Or block

Not block

This block returns TRUE, when both the inputs

are TRUE. Otherwise, it returns FALSE.

This block returns TRUE, when one of the input is

TRUE. Otherwise, it returns FALSE.

This block returns the opposite of the input. If in-

put is TRUE, this returns FALSE. If input is FALSE,

this returns TRUE.

236

Review of Concepts

Creating a Variable in Scratch

Click on the “Variable” category.

Then click on the “Create variable...” button.

Name your variable.

237

Review of Concepts

Creating a Variable in Scratch (continued)

Several new blocks will appear which allows

access and modication of the new variable.

Variable Value block

Variable Set block

Variable Change block

This block returns the current value of the variable.

This block sets the value of the variable. It will overwrite the current value.

This block changes the variable value by adding the input value (negative values or blocks are accepted).

input value

238

The Problem

How can we create a car which detects and avoids edges (clis)?

239

Project Worksheet

Complete the worksheet below to your best abilities.

1. A solution.

2. List all the parts needed for the solution. What is the purpose of each part?

3. What is a simple explanation of the logic for the solution?

4. Create a ow chart of the solution.

5. How do you assemble and connect the modules for the solution?

6. Congure blocks to relate to the ow chart.

Use two motors to move the car. Use 2 Line Finders in front of the car pointed downwards to detect if there is

an edge (cli). Steer away if there is a cli.

240

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part?

1x mCenter+ - control the project, connect sensors and trinkets to project, and supply power.

2x Hub Connector Cable - connect sensors and trinkets to the mCenter+.

1x USB Cable - connect mCenter+ to a computer for charging and programming the project.

2x Motor - to move the car.

1x Motor Controller - controls and drives the attached motors.

2x Wheel - attach to motor.

2x Line Finder - detect if there is an edge / cli.

241

Project Worksheet - Answers

3. What is a simple explanation of the logic for the solution?

Use two Motors to move the car.

Use 2 Line Finders in front of the car pointing downwards to detect edges (cli).

Read the left Line Finder to see if there is ground ahead (no cli).

Read the right Line Finder to see if there is a ground ahead (no cli).

If there is ground in both Left and Right sides, proceed forward.

If there is no ground on the Left and ground on the Right, turn right. (Right side is safe to drive on).

If there is ground on the Left and no ground on the Right, turn left. (Left side is safe to drive on).

If there is no ground in both Left and Right sides, stop car.

242

Project Worksheet - Answers

4. Create a ow chart of the solution.

Start

Set variable for motor speed

Read and store left and right

Line Finder values

Is both left and right

sides safe (no cliff)?

Is only the right

side safe (no cliff)?

Is only the left

side safe (no cliff)?

Otherwise, unsafe

Turn off motors

(stop car)

Set motors to

move car forward

Set motors to

turn car right

Set motors to

turn car left

Short delay

Loop

forever.

True

False

243

Project Worksheet - Answers

5. How do you assemble and connect the modules for the solution?

1. Stack the Motor Controller onto mCenter+.

2. Connect a Motor to connector “1A1B” on the Motor Controller.

3. Connect a Motor to connector “2A2B” on the Motor Controller.

4. Connect a Line Finder to pin A0/A1.

5. Connect a Line Finder to pin A2/A3.

6. Insert one end of the USB cable into mCenter+ and connect the other to a computer.

D2/D3

D8/D9

I2C A2/A3

I2C

D4/D5

A6/A7

A0/A1

I2C

D6/D7

244

Project Worksheet - Answers

6. Congure blocks to relate to the ow chart.

Start

Set variable for motor speed

Read and store left and right

Line Finder values

Is both left and right

sides safe (no cliff)?

Is only the right

side safe (no cliff)?

Is only the left

side safe (no cliff)?

Otherwise, unsafe

Turn off motors

(stop car)

Set motors to

move car forward

Set motors to

turn car right

Set motors to

turn car left

Short delay

Loop

forever.

True

False

245

The Script Block Locator

Loop.

Click Green Flag to activate script.

Short delay before looping.

(Create these variables

rst in the variable tab.)

Set the variable for the speed of the motors.

Read and store the left Line Finder (pin A0) value.

Read and store the right Line Finder (pin A2) value.

Check if it is safe on both Left and Right sides.

Check if there is a cli on Left side and safe on Right side.

Check if it is safe on Left side and a cli on Right side.

Otherwise both sides are unsure,

set motors to stop car.

Set motors to proceed forward.

Set motors turn right.

Set motors turn left.

Control

Events

mCookie

Data

Operators

Arduino

246

Click the green

ag to activate

the script.

1. The car will automatically move forward if left and right sides are safe (no cli).

2. The car will turn right if only the right side is safe.

3. The car will turn left is only the left side is safe.

4. The car will stop if both left and right sides are unsafe (cli).

Left Line Finder (pin A0)

Right Line Finder (pin A2)

Testing the Program

Important:

• Ensure that mCenter+ is on. Flip the switch on mCenter+

to turn it on. An LED on mCenter+ will light up to indicate

power is being supplied.

• Ensure you have selected the Serial Port and ashed the

special rmware (mCookie) rst before testing (this only

needs to be done once unless the rmware is overwritten).

• Ensure you have selected the Serial Port and connected

before testing.

Flash rmware

Select Serial Port

Testing:

Note: If the program is working correctly and you wish to use the program without being connected to your computer. Switch to Arduino mode

(top right), then “Flash Program” (this overrides the special rmware, you will need to reash to use Live mode).

247

Create a Structure

Create a structure for the project using building blocks, paper, or other crafting materials.

248

Project Challenge

The car stops when the left and right sides are unsafe.

What other options can the car makes in this situation?

Implement it on your own.

249

Review

Motor Controller - controls and drives attached motors. Can control up to 2 motors.

Motor - converts electrical energy into mechanical energy in the form of torque.

Motor - Set Speed block - set the speed of a motor.

Wheel - attaches to the Motor.

Line Finder - detects the reective surface or distance of an object.

Analog Read block - returns the value of the reective surface from the Line Finder sensor.

250

Expanding the Project

Research

Write down a way of expanding this project. Create it on your own.

Research more about edge/cli detection. What things implement this feature?

Why is it important for each of those things to have this feature?

__________________________________________________________

251

Line Finding Car 1

MIX 4 - Project 11

(Old Cards: MIX4B-07)

252

Some of the earliest Automated Guided Vehicles (AGVs) were line following mobile robots. They might

follow a visual line painted or embedded in the oor or ceiling or an electrical wire in the oor.

Most of these robots operated a simple “keep the line in the center sensor” algorithm. They could not cir-

cumnavigate obstacles; they just stopped and waited when something blocked their path.

Source: https://en.wikipedia.org/wiki/Mobile_robot#Line-following_Car

About Line Following Cars

253

Review of Modules

Usage

The Line Finder module is able to detect reectivity or gray level of a surface. In gen-

eral, darker or less reective surfaces produces a higher value. While a lighter or more

reective surface produces a lower value. It must be connected to a pin with an

“A” prex (A0/A1, A2/A3, A6/A7).

Line Finder

Analog Read block

This block returns the value that the Line Finder detects. A value between 0 and 1023 is

returned.

Pin that Line Finder

is connected to.

0 1023

Darker,

less reective surfaces.

Lighter,

more reective surfaces.

Surface Reectivity

Value Returned

254

Review of Modules

A Motor is a electrical machine which converts electrical energy to mechanical energy. It

is capable of rotating clockwise and counter clockwise. It is controlled by a Motor Con-

troller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the

Motor.

Motor

Motor Controller Wheel

Motor - Set Speed block

This block sets the speed of the motor. Positive values turns the Motor in one direc-

tion. While negative values turns the Motor in the opposite direction. A value of 0

stops the Motor. Values between -255 and 255 are accepted. 255 is maximum clock-

wise speed. -255 is maximum counter-clockwise speed.

Motor - Brake block

This block sets the speed to 0 to stop the Motor.

Motor to congure.

Speed to set.

255

Review of Blocks

Addition Block

This block returns the sum of the left input and right input.

Division Block

This block returns the value of dividing the left input by the right input.

Multiplication Block

This block returns the product of the left input and right input.

Subtraction Block

This block returns the value of subtracting the left input by the right input.

Less Than Block

This block returns TRUE if the left input is less than the right input.

Equal Block

This block returns TRUE if the left input is equal to the right input.

Greater Than Block

This block returns TRUE if the left input is greater than the right input.

256

Review of Concepts

Booleans

Booleans are a type of data, which can only either be TRUE or FALSE. Booleans are used in the condition checks

on blocks such as the “If”, “If Else”, “Wait Until” blocks.

Boolean Operators

Boolean Operators enables performing operations on boolean types. It is useful for testing multiple conditions.

Left Input Right Input Result

True True True

True False False

False True False

False False False

Left Input Right Input Result

True True True

True False True

False True True

False False False

Input Result

True False

False True

And block

Or block

Not block

This block returns TRUE, when both the inputs

are TRUE. Otherwise, it returns FALSE.

This block returns TRUE, when one of the input is

TRUE. Otherwise, it returns FALSE.

This block returns the opposite of the input. If in-

put is TRUE, this returns FALSE. If input is FALSE,

this returns TRUE.

257

Review of Concepts

Creating a Variable in Scratch

Click on the “Variable” category.

Then click on the “Create variable...” button.

Name your variable.

258

Review of Concepts

Creating a Variable in Scratch (continued)

Several new blocks will appear which allows

access and modication of the new variable.

Variable Value block

Variable Set block

Variable Change block

This block returns the current value of the variable.

This block sets the value of the variable. It will overwrite the current value.

This block changes the variable value by adding the input value (negative values or blocks are accepted).

input value

259

The Problem

How can we create a car which follows a black line (track)?

260

Project Worksheet

Complete the worksheet below to your best abilities.

1. A solution.

2. List all the parts needed for the solution. What is the purpose of each part?

3. What is a simple explanation of the logic for the solution?

4. Create a ow chart of the solution.

5. How do you assemble and connect the modules for the solution?

6. Congure blocks to relate to the ow chart.

Use two motors to move the car. Use Two Line Finders pointed downward to detect the black line. Adjust ac-

cordingly to stay on the black line.

261

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part?

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part?

1x mCenter+ - control the project, connect sensors and trinkets to project, and supply power.

2x Hub Connector Cable - connect sensors and trinkets to the mCenter+.

1x USB Cable - connect mCenter+ to a computer for charging and programming the project.

2x Motor - to move the car.

1x Motor Controller - controls and drives the attached motors.

2x Wheel - attach to motor.

2x Line Finder - to detect the black line.

262

Project Worksheet - Answers

3. What is a simple explanation of the logic for the solution?

Use two Motors to move the car.

Use 2 Line Finders pointed downward to detect the black line.

When the both Line Finders do not detect the black line, proceed forward.

When the left Line Finder detects the black line, steer left.

When the right Line Finder detects the black line, steer right.

*Note: The Line Finders must be spaced apart slightly more than the width of the black line (as illustrated).

Left

Line Finder

Right

Line Finder

Black line

263

Project Worksheet - Answers

4. Create a ow chart of the solution.

Start

Set variable for motor speed

Read and store if left and right

Line Finder detects a line

Is both left and right

sides not detecting a line?

Is only the left

detecting a line?

Is only the right

detecting a line?

Otherwise, on the line

turn off motors

(stop car)

Set motors to

move car forward

Set motors to

turn car left

Set motors to

turn car right

Short delay

Loop

forever.

True

False

264

Project Worksheet - Answers

5. How do you assemble and connect the modules for the solution?

1. Stack the Motor Controller onto mCenter+.

2. Connect a Motor to connector “1A1B” on the Motor Controller.

3. Connect a Motor to connector “2A2B” on the Motor Controller.

4. Connect a Line Finder to pin A0/A1.

5. Connect a Line Finder to pin A2/A3.

6. Insert one end of the USB cable into mCenter+ and connect the other to a computer.

D2/D3

D8/D9

I2C A2/A3

I2C

D4/D5

A6/A7

A0/A1

I2C

D6/D7

D2/D3

D8/D9

I2C A2/A3

I2C

D4/D5

A6/A7

A0/A1

I2C

D6/D7

265

Project Worksheet - Answers

6. Congure blocks to relate to the ow chart.

Start

Set variable for motor speed

Read and store if left and right

Line Finder detects a line

Is both left and right

sides not detecting a line?

Is only the left

detecting a line?

Is only the right

detecting a line?

Otherwise, on the line

turn off motors

(stop car)

Set motors to

move car forward

Set motors to

turn car left

Set motors to

turn car right

Short delay

Loop

forever.

True

False

266

The Script Block Locator

Loop.

Click Green Flag to activate script.

Short delay before looping.

(Create these variables

rst in the variable tab.)

Set the variable for the speed of the motors.

Read and store Left side if detects a black line.

0 (false) = detecting line. 1 (true) = not detecting line.

Read and store Right side if detects a black line.

0 (false) = detecting line. 1 (true) = not detecting line.

Check if not detecting line on both sides.

Set motors to move car forward.

Otherwise car is on the black line,

Set motors to o (stop the car).

Set motors to turn car right.

Set motors to turn car left.

Check if detecting line on left side.

Check if detecting line on right side.

Control

Events

mCookie

Data

Operators

Arduino

267

Click the green

ag to activate

the script.

1. Create a straight line with black tape.

2. Make sure your Line Finders are spaced apart SLIGHTLY larger than the width of the black tape.

3. Place the car on the black tape. The car will trace the black tape.

Left Line Finder (pin A0)

Right Line Finder (pin A1)

Testing the Program

Important:

• Ensure that mCenter+ is on. Flip the switch on mCenter+

to turn it on. An LED on mCenter+ will light up to indicate

power is being supplied.

• Ensure you have selected the Serial Port and ashed the

special rmware (mCookie) rst before testing (this only

needs to be done once unless the rmware is overwritten).

• Ensure you have selected the Serial Port and connected

before testing.

Flash rmware

Select Serial Port

Testing:

Note: If the program is working correctly and you wish to use the program without being connected to your computer. Switch to Arduino mode

(top right), then “Flash Program” (this overrides the special rmware, you will need to reash to use Live mode).

268

Create a Structure

Create a structure for the project using building blocks, paper, or other crafting materials.

269

Project Challenge

The car stops if it detects the line on both Line Finders (left and right).

What is another solution for this scenario?

Implement it on your own.

270

Review

Motor Controller - controls and drives attached motors. Can control up to 2 motors.

Motor - converts electrical energy into mechanical energy in the form of torque.

Motor - Set Speed block - set the speed of a motor.

Wheel - attaches to the Motor.

Line Finder - detects the reective surface or distance of an object.

Analog Read block - returns the value of the reective surface from the Line Finder sensor.

271

Expanding the Project

Research

Write down a way of expanding this project. Create it on your own.

Research more about Line Finding cars.

What are some other features and advancements have been added to this type of car?

__________________________________________________________

272

Line Finding Car 2

MIX 4 - Project 12

(Old Cards: MIX4B-08)

273

Some of the earliest Automated Guided Vehicles (AGVs) were line following mobile robots. They might

follow a visual line painted or embedded in the oor or ceiling or an electrical wire in the oor.

Most of these robots operated a simple “keep the line in the center sensor” algorithm. They could not cir-

cumnavigate obstacles; they just stopped and waited when something blocked their path.

Source: https://en.wikipedia.org/wiki/Mobile_robot#Line-following_Car

About Line Following Cars

274

Review of Modules

Usage

The Line Finder module is able to detect reectivity or gray level of a surface. In gen-

eral, darker or less reective surfaces produces a higher value. While a lighter or more

reective surface produces a lower value. It must be connected to a pin with an

“A” prex (A0/A1, A2/A3, A6/A7).

Line Finder

Analog Read block

This block returns the value that the Line Finder detects. A value between 0 and 1023 is

returned.

Pin that Line Finder

is connected to.

0 1023

Darker,

less reective surfaces.

Lighter,

more reective surfaces.

Surface Reectivity

Value Returned

275

Review of Modules

A Potentiometer is a input module which can be turned or rotated right or left. Based

on the position of the knob, it produces a dierent signal value for the Core module to

read. It must be connected to an analog port (ports denoted with “A”).

Analog Read block

This block returns the value from the Potentiometer. A value between 0 and 1023 is returned.

If the potentiometer is turned all the way to the left, it produces a 0 value. If it is turned all

the way tot the right, it produces a 1023 value. In the middle it produces a value around 512.

Potentiometer

Pin the Potentiometer

is connected to.

0 1023

276

Review of Modules

A Motor is a electrical machine which converts electrical energy to mechanical energy. It

is capable of rotating clockwise and counter clockwise. It is controlled by a Motor Con-

troller. A Motor Controller can control up to 2 Motors. A Wheel can be attached to the

Motor.

Motor

Motor Controller Wheel

Motor - Set Speed block

This block sets the speed of the motor. Positive values turns the Motor in one direc-

tion. While negative values turns the Motor in the opposite direction. A value of 0

stops the Motor. Values between -255 and 255 are accepted. 255 is maximum clock-

wise speed. -255 is maximum counter-clockwise speed.

Motor - Brake block

This block sets the speed to 0 to stop the Motor.

Motor to congure.

Speed to set.

277

Review of Blocks

Addition Block

This block returns the sum of the left input and right input.

Division Block

This block returns the value of dividing the left input by the right input.

Multiplication Block

This block returns the product of the left input and right input.

Subtraction Block

This block returns the value of subtracting the left input by the right input.

Less Than Block

This block returns TRUE if the left input is less than the right input.

Equal Block

This block returns TRUE if the left input is equal to the right input.

Greater Than Block

This block returns TRUE if the left input is greater than the right input.

278

Review of Concepts

Booleans

Booleans are a type of data, which can only either be TRUE or FALSE. Booleans are used in the condition checks

on blocks such as the “If”, “If Else”, “Wait Until” blocks.

Boolean Operators

Boolean Operators enables performing operations on boolean types. It is useful for testing multiple conditions.

Left Input Right Input Result

True True True

True False False

False True False

False False False

Left Input Right Input Result

True True True

True False True

False True True

False False False

Input Result

True False

False True

And block

Or block

Not block

This block returns TRUE, when both the inputs

are TRUE. Otherwise, it returns FALSE.

This block returns TRUE, when one of the input is

TRUE. Otherwise, it returns FALSE.

This block returns the opposite of the input. If in-

put is TRUE, this returns FALSE. If input is FALSE,

this returns TRUE.

279

Review of Concepts

Creating a Variable in Scratch

Click on the “Variable” category.

Then click on the “Create variable...” button.

Name your variable.

280

Review of Concepts

Creating a Variable in Scratch (continued)

Several new blocks will appear which allows

access and modication of the new variable.

Variable Value block

Variable Set block

Variable Change block

This block returns the current value of the variable.

This block sets the value of the variable. It will overwrite the current value.

This block changes the variable value by adding the input value (negative values or blocks are accepted).

input value

281

The Problem

How can enhance the line following robot to increase its accuracy?

282

Project Worksheet

Complete the worksheet below to your best abilities.

1. A solution.

2. List all the parts needed for the solution. What is the purpose of each part?

3. What is a simple explanation of the logic for the solution?

4. Create a ow chart of the solution.

5. How do you assemble and connect the modules for the solution?

6. Congure blocks to relate to the ow chart.

Add two additional Line Finders to increase the line detection accuracy.

283

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part?

1x mCenter+ - control the project, connect sensors and trinkets to project, and supply power.

6x Hub Connector Cable - connect sensors and trinkets to the mCenter+.

1x USB Cable - connect mCenter+ to a computer for charging and programming the project.

2x Motor - to move the car.

1x Motor Controller - controls and drives the attached motors.

2x Wheel - attach to motor.

4x Line Finder - to detect the black line.

1x Potentiometer - to adjust speed of the truck.

284

Project Worksheet - Answers

2. List all the parts needed for the solution. What is the purpose of each part? (Continued)

1x IO Splitter - to connect two sensors/trinkets to a single connector.

285

Project Worksheet - Answers

3. What is a simple explanation of the logic for the solution?

Use two Motors to move the car.

Use 4 Line Finders pointed downward to detect the black line.

Use a Potentiometer to congure the Line Finder threshold for registering a black line.

Leftmost Line Finder is labeled S0, Left middle is S1, Right middle is S2, Rightmost is S3.

A. Only Leftmost detects line - turn sharply to the left to get back on line.

B. Only Leftmost and Left middle detects line - turn slightly to left to get back on line.

C. Only Left middle and Right middle detects line - already on the line, go straight.

D. Only Right middle and Rightmost detects line - turn slightly to the right to get back on line.

E. Only Rightmost detects line - turn sharply to the right to get back on line.

A B C ED

286

Project Worksheet - Answers

4. Create a ow chart of the solution.

Start

Set variable for motor speed

Read and store if the 5

Line Finders detects a line

Loop

forever.

Is condition A present?

Is condition B present?

Is condition C present?

Is condition D present?

Is condition E present?

Read and store Potentiometer

value for line threshold

Set motors to

move car forward

Set motors to

sharply turn left

Set motors to

sharply turn right

Set motors to

slight turn left

Set motors to

slight turn right

Otherwise, unknown condition

turn off motors

(stop car)

Short delay

True

False

287

Project Worksheet - Answers

5. How do you assemble and connect the modules for the solution?

1. Stack the Motor Controller onto mCenter+.

2. Connect a Motor to connector “1A1B” on the Motor Controller.

3. Connect a Motor to connector “2A2B” on the Motor Controller.

4. Connect a Potentiometer to pin A6/A7

5. Connect two Line Finders to an IO Splitter. Connect the IO Splitter to pin A0/A1.

6. Connect two Line Finders to an IO Splitter. Connect the IO Splitter to pin A2/A3.

7. Insert one end of the USB cable into mCenter+ and connect the other to a computer.

D2/D3

D8/D9

I2C A2/A3

I2C

D4/D5

A6/A7

I2C

D6/D7

A0/A1

IN B

288

Project Worksheet - Answers

6. Congure blocks to relate to the ow chart.

Start

Set variable for motor speed

Read and store if the 5

Line Finders detects a line

Loop

forever.

Is condition A present?

Is condition B present?

Is condition C present?

Is condition D present?

Is condition E present?

Read and store Potentiometer

value for line threshold

Set motors to

move car forward

Set motors to

sharply turn left

Set motors to

sharply turn right

Set motors to

slight turn left

Set motors to

slight turn right

Otherwise, unknown condition

turn off motors

(stop car)

Short delay

True

False

289

The Script Block Locator

Loop.

Click Green Flag to activate script.

Short delay before looping.

(Create these variables

rst in the variable tab.)

Set the variable for the speed of the motors.

Read and store Potentiometer (pin A6) for line threshold.

Read and store Line Finder values.

Check for condition A.

Set motors to turn sharply to the left.

Check for condition B.

Set motors to turn slightly to the left.

Check for condition C.

Set motors to move quickly forward.

Check for condition D.

Set motors to turn sharply to the right.

Check for condition E.

Set motors to turn slightly to the right.

Unknown condition,

turn motors o (stop car).

Control

Events

mCookie

Data

Operators

Arduino

“1” represents detecting line.

“0” represents” no line detected.

290

Click the green

ag to activate

the script.

1. Create a straight line with black tape.

2. Make sure the Line Finders are side by side with the correct positions.

The two middle Line Finders should be detecting the black tape.

3. Place the car on the black tape. The car will trace the black tape.

Line Finder (pin A0)

Line Finder (pin A1)

Line Finder (pin A2)

Line Finder (pin A3) Adjust the sensitivity of line

detection by adjusting the

Potentiometer.

Testing the Program

Important:

• Ensure that mCenter+ is on. Flip the switch on mCenter+

to turn it on. An LED on mCenter+ will light up to indicate

power is being supplied.

• Ensure you have selected the Serial Port and ashed the

special rmware (mCookie) rst before testing (this only

needs to be done once unless the rmware is overwritten).

• Ensure you have selected the Serial Port and connected

before testing.

Flash rmware

Select Serial Port

Testing:

Note: If the program is working correctly and you wish to use the program without being connected to your computer. Switch to Arduino mode

(top right), then “Flash Program” (this overrides the special rmware, you will need to reash to use Live mode).

291

Create a Structure

Create a structure for the project using building blocks, paper, or other crafting materials.

292

Project Challenge

Add a Color LED to the project.

Have it indicate the current condition detected (A~E).

Modify the behavior to your liking when it reaches the unknown conditiion.

293

Review

Motor Controller - controls and drives attached motors. Can control up to 2 motors.

Motor - converts electrical energy into mechanical energy in the form of torque.

Motor - Set Speed block - set the speed of a motor.

Wheel - attaches to the Motor.

Line Finder - detects the reective surface or distance of an object.

Analog Read block - returns the value of the reective surface from the Line Finder sensor.

294

Expanding the Project

Research

Write down a way of expanding this project. Create it on your own.

Research new technologies for self driving vehicles.

What kind of methods are used in these self-driving cars?

__________________________________________________________

FCC Warning

This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:

(1) This device may not cause harmful interference, and

(2) this device must accept any interference received, including interference that may cause undesired operation.

Any Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority

to operate the equipment. This equipment has been tested and found to comply with the limits for a Class B digital device,

pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference

in a residential installation. This equipment generates uses and can radiate radio frequency energy and,

if not installed and used in accordance with the instructions, may cause harmful interference to radio communications.

However, there is no guarantee that interference will not occur in a particular installation.

If this equipment does cause harmful interference to radio or television reception, which can be determined by turning

the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:

-Reorient or relocate the receiving antenna.

-Increase the separation between the equipment and receiver.

-Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.

-Consult the dealer or an experienced radio/TV technician for help.

The device has been evaluated to meet general RF exposure requirement.

The device can be used in portable exposure condition without restriction.

295

Microduino MIXC104E KIT-mCookie-Education User Manual MIX4 Book 02202018 SS indd

Microduino Inc. KIT-mCookie-Education MIX4 Book 02202018 SS indd

Contents

User manual Part 2

Navigation menu

Namespaces

Views

Navigation