Programs

This package contains the three blocks used in the advanced calibration section of the FLL course.

The blocks contained are:

• InitiArray block
• CalibrateMinMax
• GetCalibrateValue 

In this program, we return the robot to a straight orientation at the end of the program. If there is not enough time for the Mindstorms Gyro sensor the correct the orientation of the robot before the end of the program, then we should do it at the end.

The experiment contains a plot of the Curren Power of Motors B and C and the values of the Gyro Sensor when the robot is moving with a power of 100%. What you could see is that it is not actually moving with a power of 100% because the current power is about 75-80%.

The block has the following parameters from left to right:

• Degrees – the degrees the front wheels of the car will turn;
• Power – the power of the car;
• Limited/Unlimited – if the value is marked by a tick, the car will move for an unlimited period of time; if the value is marked by an x, the car will move for the specified number of rotations;
• Rotations – the number of rotations the car will make. 

MyBlock that makes a turn on specific degrees with minimal inaccuracy.

Input parameters:

• TurningAngle - The angle on which you want to turn your robot.
• MotorPower - The power with which your robot will rotate at first time
• CorrectionPower - The power with which your robot will correct it's turning to make it perfect

The block that constanlty increase the speed while turning. The goal of this is to reduce the acceleration of the robot when it starts turning so that no modules will fall.
There is only one input parameter in this block and this is the Angle on which you want your robot to rotate.

The block has the following parameters from left to right:

• Degrees – the degrees the front wheels of the car will turn;
• Power – the power of the car;
• Limited/Unlimited – if the value is marked by a tick, the car will move for an unlimited period of time; if the value is marked by an x, the car will move for the specified number of rotations;
• Rotations – the number of rotations the car will make.

Attention! This block is made only for robots with two driving large motors on ports B and C and one steering medium motor on port A!

Detailed explanation of how to use this myBlock is written in the tutorial How to use the CarControl MyBlock.

This is an example program for tug of war with two touch sensors. The game can be played with almost any robot, so we used: https://www.fllcasts.com/materials/265-five-minute-bot, because it is the simplest. You have to attach two touch sensors at ports 1 and 4, preferably with long cables. You can also add a color sensor to port 3, which will detect when to end the game, although this is not required. The game is simple, two human players click the touch sensors as fast as they can. The robot moves in the direction of the one that clicks the fastest and the goal is to bring it to your finish line.

The program teaches about counters and flags. A big part of it is the good names of variables and loops and the addition to plenty of comments, from which students can learn how to form their program.

The example program used at the end for solving the FIRST LEGO League 2012 missions