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Robotics with the Board of Education Shield for Arduino

Curriculum

  • 9 Sections
  • 148 Lessons
  • Lifetime
Expand all sectionsCollapse all sections
  • About This Tutorial
    3
    • 2.0
      About the BOE Shield-Bot
    • 2.1
      Audience and Support
    • 2.2
      Author & Contributors
  • Chapter 1. Your Shield-Bot's Brain
    25
    • 3.1
      Chapter 1. Your Shield-Bot’s Brain
    • 3.2
      Hardware and Software Options
    • 3.3
      Shield-Bot Chassis Parts
    • 3.4
      Shield-Bot Hardware
    • 3.5
      Shield-Bot Electronics Parts
    • 3.6
      Activity 1: Download and Install the Software
    • 3.7
      Activity 2: Write a Simple “Hello!” Sketch
    • 3.8
      Codebender Hello Sketch
    • 3.9
      How the Hello Sketch Code Works
    • 3.10
      Modify the Sketch to Repeat
    • 3.11
      Hello Messages on New Lines
    • 3.12
      Open the Arduino Reference
    • 3.13
      Activity 3: Store and Retrieve Values
    • 3.14
      Global vs.Local Variables
    • 3.15
      Activity 4: Solve Math Problems
    • 3.16
      Try Floating Point Math
    • 3.17
      Activity 5: Make Decisions
    • 3.18
      More Decisions with if… else if
    • 3.19
      Activity 6: Count and Control Repetitions
    • 3.20
      How the for Loop Works
    • 3.21
      Adjust Initialization, Condition, and Increment
    • 3.22
      Activity 7: Constants and Comments
    • 3.23
      Chapter 1 Summary
    • 3.24
      Chapter 1 Challenges
    • 3.25
      Chapter 1 Solutions
  • Chapter 2. Shield, Lights, Servo Motors
    23
    • 4.0
      Chapter 2. Shield, Lights, Servo Motors
    • 4.1
      Activity 1: Board of Education Shield Setup
    • 4.2
      Activity 2: Build and Test LED Indicator Lights
    • 4.3
      Introducing the Resistor
    • 4.4
      Introducing the LED
    • 4.5
      Introducing the Prototyping Area
    • 4.6
      LED Test Circuit
    • 4.7
      How a Sketch Makes the LED Turn On and Off
    • 4.8
      Introducing the Timing Diagram
    • 4.9
      Activity 3: LED Servo Signal Monitors
    • 4.10
      How to Use the Arduino Servo Library
    • 4.11
      Activity 4: Connect Servo Motors and Batteries
    • 4.12
      Connect the Servos to the BOE Shield
    • 4.13
      Connect the Battery Pack to the BOE Shield
    • 4.14
      5-cell Pack Setup
    • 4.15
      4-cell Pack + Boe-Boost Setup
    • 4.16
      Activity 5: Centering the Servos
    • 4.17
      Activity 6: Testing the Servos
    • 4.18
      Controlling Servo Speed and Direction
    • 4.19
      How To Control Servo Run Time
    • 4.20
      Chapter 2 Summary
    • 4.21
      Chapter 2 Challenges
    • 4.22
      Chapter 2 Solutions
  • Chapter 3. Assemble and Test your BOE Shield-Bot
    22
    • 5.0
      Chapter 3. Assemble and Test your BOE Shield-Bot
    • 5.1
      Activity 1: Assembling the BOE-Shield-Bot
    • 5.2
      Mount the Topside Hardware
    • 5.3
      Remove the Servo Horns
    • 5.4
      Mount the Servos on the Chassis
    • 5.5
      Mount the Battery Pack
    • 5.6
      Mount the Wheels
    • 5.7
      Attach the BOE Shield to the Chassis
    • 5.8
      Activity 2: Re-test the Servos
    • 5.9
      Testing the Left and Right Wheels
    • 5.10
      Servo Troubleshooting
    • 5.11
      Activity 3: Start-Reset Indicator
    • 5.12
      Build the Piezospeaker Circuit
    • 5.13
      Programming the Start-Reset Indicator
    • 5.14
      Example Sketch: StartResetIndicator
    • 5.15
      Activity 4: Test Speed Control
    • 5.16
      Example Sketch: Test Servo Speed
    • 5.17
      How TestServoSpeed Works
    • 5.18
      Optional: Record Your Own Transfer Curve Data
    • 5.19
      Chapter 3 Summary
    • 5.20
      Chapter 3 Challenges
    • 5.21
      Chapter 3 Solutions
  • Chapter 4. BOE Shield-Bot Navigation
    19
    • 6.0
      Chapter 4. BOE Shield-Bot Navigation
    • 6.1
      Activity 1: Basic BOE Shield-Bot Maneuvers
    • 6.2
      How ForwardThreeSeconds Works
    • 6.3
      Moving Backward, Rotating, and Pivoting
    • 6.4
      Activity 2: Tuning the Basic Maneuvers
    • 6.5
      Tuning the Turns
    • 6.6
      Activity 3: Calculating Distances
    • 6.7
      Activity 4: Ramping Maneuvers
    • 6.8
      Activity 5: Simplify Navigation with Functions
    • 6.9
      Function Call with Parameters
    • 6.10
      Put Maneuvers Into Functions
    • 6.11
      Activity 6: Custom Maneuver Function
    • 6.12
      Activity 7: Maneuver Sequences with Arrays
    • 6.13
      Using Array Elements
    • 6.14
      Navigation with Arrays
    • 6.15
      Character Arrays and switch-case
    • 6.16
      Chapter 4 Summary
    • 6.17
      Chapter 4 Challenges
    • 6.18
      Chapter 4 Solutions
  • Chapter 5. Tactile Navigation with Whiskers
    13
    • 7.0
      Chapter 5. Tactile Navigation with Whiskers
    • 7.1
      Activity 1: Build and Test the Whiskers
    • 7.2
      How Whisker Switches Work
    • 7.3
      Testing the Whiskers
    • 7.4
      How DisplayWhiskerStates Works
    • 7.5
      Activity 2: Field-Test the Whiskers
    • 7.6
      Activity 3: Navigation with Whiskers
    • 7.7
      How RoamingWithWhiskers Works
    • 7.8
      Activity 4: Artificial Intelligence for Escaping Corners
    • 7.9
      How Escaping Corners Works
    • 7.10
      Chapter 5 Summary
    • 7.11
      Chapter 5 Challenges
    • 7.12
      Chapter 5 Solutions
  • Chapter 6. Light-Sensitive Navigation with Phototransistors
    18
    • 8.0
      Chapter 6. Light-Sensitive Navigation with Phototransistors
    • 8.1
      Introducing the Phototransistor
    • 8.2
      Activity 1: Simple Light to Voltage Sensor
    • 8.3
      Example Sketch: PhototransistorVoltage
    • 8.4
      Halt Under the Bright Light
    • 8.5
      How the Phototransistor Circuit Works
    • 8.6
      Ohm’s Law
    • 8.7
      Activity 2: Measure Light Levels Over a Larger Range
    • 8.8
      Building the Photosensitive Eyes
    • 8.9
      Test the Phototransistor Circuit
    • 8.10
      rcTime and Voltage Decay
    • 8.11
      Activity 3: Light Measurements for Roaming
    • 8.12
      Light Measurement Graphic Display
    • 8.13
      Activity 4: Test a Light-Roaming Routine
    • 8.14
      Activity 5: Shield-Bot Navigating by Light
    • 8.15
      Chapter 6 Summary
    • 8.16
      Chapter 6 Challenges
    • 8.17
      Chapter 6 Solutions
  • Chapter 7. Navigating with Infrared Headlights
    14
    • 9.0
      Chapter 7. Navigating with Infrared Headlights
    • 9.1
      Infrared Light Signals
    • 9.2
      Activity 1: Build and Test the Object Detectors
    • 9.3
      Object Detection Test Code
    • 9.4
      Activity 2: Field Testing
    • 9.5
      Sniffing for IR Interference
    • 9.6
      Activty 3: Detection Range Adjustments
    • 9.7
      Activity 4: Object Detection and Avoidance
    • 9.8
      Activity 5: High-performance IR Navigation
    • 9.9
      Activity 6: Drop-off Detector
    • 9.10
      Example Sketch: AvoidTableEdge
    • 9.11
      Chapter 7 Summary
    • 9.12
      Chapter 7 Challenges
    • 9.13
      Chapter 7 Solutions
  • Chapter 8. Robot Control with Distance Detection
    11
    • 10.0
      Chapter 8. Robot Control with Distance Detection
    • 10.1
      Activity 1: Testing the Frequency Sweep
    • 10.2
      Displaying Both Distances
    • 10.3
      Activity 2: BOE Shield-Bot Shadow Vehicle
    • 10.4
      A Look Inside Proportional Control
    • 10.5
      Example Sketch: FollowingShieldBot
    • 10.6
      Follow the Leader
    • 10.7
      Activity 3: What’s Next?
    • 10.8
      Chapter 8 Summary
    • 10.9
      Chapter 8 Challenges
    • 10.10
      Chapter 8 Solutions

Floating Point Math

So far, these lessons have processed integers values, which encompass negative and positive counting values.  C language also handles floating point values, which allow you to process numbers with a decimal point and one or more digits to the right,  much as a calculator does. Since the number of digits to the left or right of the decimal point is flexible, the decimal point’s position can “float” from one position to another as needed.

  • Use a calculator and c = 2×π×r to calculate the circumference of a circle with a radius of 1.0.
  • Use the Open Project button to open the Floating Point Calculations.side.
  • Set the power switch to position 1 if it isn’t already (if applicable for your board).
  • Click Run with Terminal, and compare the result from the Propeller (displayed in the SimpleIDE Terminal against your calculated result).
/*
  Floating Point Calculations.c
 
  Calculate and display circumference of a circle of radius = 1.0.
*/

#include "simpletools.h"                      // Include simpletools

int main()                                    // main function
{
  float r = 1.0;                              // Set radius to 1.0
  float c = 2.0 * PI * r;                     // Calculate circumference
  print("circumference = %f \n", c);          // Display circumference
}

 

How it Works

This program knows that PI ≈ 3.1415926… because it is defined in the simpletools library.   Inside the main function, a floating point variable named r is initialized to 1.0 with float r = 1.0. 

After that, the circumference is calculated with c = 2.0 * PI * r. 

Then, print(“circumference = %f \n”, c) displays the floating point value stored in c.  Notice the new format placeholder:  %f for a floating point value.    

 


Did You Know?

You can declare different variable types that can store different sizes and types of numbers.

signed char -127 to 127
char 0 to 255
int -2,147,483,647 to 2,147,483,647
unsigned int 0 to 4,294,967,295
long same as int
unsigned long same as unsigned int
float approx: 3.4X10-38 to 3.4X1038 with 6 digits of precision

 

Try This

Let’s try calculating the area of a circle with a = π×r2, which is PI * r * r. 

  • Use Save Project As to save your project as More Floating Point.side
  • Modify the main loop by adding the two statements at the end of the main function shown below.
  • Compare the Propeller result against your calculated result.
  • Try changing the radius to 3 and repeat.

 

Your Turn

  • Expand More Floating Point.c to calculate the volume of a sphere using v = 4/3 × π × r3.

Keep in mind that you have to use 4.0/3.0 to get the floating point version of 4/3.  You can also use pow(r, 3.0) to raise r to the third power.


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