Chapter 5 Challenges

Questions

1. What kind of electrical connection is a whisker?
2. When a whisker is pressed, what voltage occurs at the I/O pin monitoring it?  What binary value will the digitalRead function return?  If digital pin 8 is used to monitor the whisker circuit, what value does digitalRead return when a whisker is pressed, and what value does it return when a whisker is not pressed?
3. If digitalRead(7)== 1, what does that mean?  What does it mean if digitalRead(7)== 0? How about digitalRead(5)== 1 and digitalRead(5)== 0?
4. What statements did this chapter use to call different navigation functions based on whisker states?  
5. What is the purpose of having nested if statements?

Exercises

1. Write a routine that uses a single variable named whiskers to track whisker contacts.  It should store a 3 when no whiskers are contacted, a 2 if the right whisker is contacted, a 1 if the left whisker is contacted, or 0 if both whiskers are contacted.  Hint: multiply the result by two.
2. Modify the loop function in RoamingWithWhiskers so that it makes the BOE Shield-Bot stop and not restart when both whiskers contact at the same time.
3. Add a function named pause to RoamingWithWhiskers.  It should make the BOE Shield-Bot stay still for a certain amount of time. 
4. Modify the loop function so that the BOE Shield-Bot stays still for 0.5 seconds before backing up and turning.

Projects

1. Modify RoamingWithWhiskers so that the BOE Shield-Bot stops and makes a 4 kHz beep that lasts 100 ms before executing its usual evasive maneuver.  Make it beep twice if both whisker contacts are detected during the same sample.  HINT: Use the pause function you developed in the Exercises section to make it pause immediately after the tone starts playing.  Also, a 0.2 second pause after the tone call separates the 0.1 second tone from servo motion, or allows you to hear a second tone.   
2. Modify RoamingWithWhiskers so that the BOE Shield-Bot roams in a 1 yard (or 1 meter) diameter circle.  When you touch one whisker, it will cause the BOE Shield-Bot to travel in a tighter circle (smaller diameter).  When you touch the other whisker, it will cause the BOE Shield-Bot to navigate in a wider diameter circle.