The Finch Robot and the While Loop
Download
Report
Transcript The Finch Robot and the While Loop
THE FINCH ROBOT
AND THE WHILE LOOP
Pepper
THE ROBOT
Developed by Carnegie Mellon students to teach CS
Supports many compilers, including Java
Web site: http://www.finchrobot.com/
Why: See how hardware and physical actions can be
controlled with code so you can imagine the game you
will design for the group project
Half are the marketing team
Half are the development team
Lab group practice
HARDWARE
Input Sensors
Obstacles
Light
Accelerometer
(how fast is it
going)
Temperature
Output
Wheels turn
LED lights
Speaker
Power
Long USB Cord
INSTALLING
Download Java package from
http://www.finchrobot.com/Creating,%20Compili
ng,%20and%20Running%20Programs%20for%20
Finch/bluej
Unzip it
Open sample project
Create your own package inside sample project
(or add jar file to bluej via preferences)
MAKE A FINCH CONTROLLER
Bring in the knowledge:
Create a finch object that knows finch commands:
import edu.cmu.ri.createlab.terk.robot.finch.Finch;
Finch myFinch = new Finch();
Always end with quit and exit:
myFinch.quit();
System.exit(0);
CONTROLLING COMMANDS
Set Finch Beak Color:
Make Finch Speak:
myFinch.setLED(red,green,blue); // 0 to 255
myFinch.saySomething("The Finch will say this.");
Make Finch Move:
myFinch.setWheelVelocities(left,right,time)
// -255 to 255 & time is in milliseconds
// negative number rolls backwards
// hold the cord or it may have difficulty
SIMPLE PROGRAM –
package Pepper;
import edu.cmu.ri.createlab.terk.robot.finch.Finch;
public class FinchSimple {
public static void main(final String[] args) {
// Instantiating the Finch object
Finch myFinch = new Finch();
myFinch.setWheelVelocities(255,255,1000);
myFinch.saySomething(“All Done");
// Always end your program
myFinch.quit();
System.exit(0);
}
}
GET FINCH SENSE INFORMATION
Obstacles: All true/false
isObstacle()
isObstacleLeftSide()
isObstacleRightSide()
Light: All true/false, but using light level
threshold
isRightLightSensor(10)
isLeftLightSensor(10)
In dark, it will be true up to about 4
In light, it will be true up to about 40
Ex: if (myFinch.isRightLightSensor(10) == true)
{ System.out.println(“It is light out”);}
else {System.out.println(“It is dark out”);}
MAKE IT DO AN ACTION WHILE A
CONDITION IS TRUE
Keep moving forward until it senses an obstacle
while ( myFinch.isObstacle() == false ){
myFinch.setWheelVelocities(255,255,200);
}
// then back up
myFinch.setWheelVelocities(-255,-255,1000);
ANOTHER - MAKE IT DO AN ACTION WHILE
A CONDITION IS TRUE
Spin until the lights turn off
while (myFinch.isRightLightSensor(10) == true){
myFinch.setWheelVelocities(255,-255,1000);
}
// when the lights are out, this will be false
// when the lights are on, this will be true
// could say spin while lights are on
// WILL NOT SPIN AT ALL IF LIGHTS OFF
DO WHILE
Spin at least once, and then keep spinning until
the lights turn off
do
{ myFinch.setWheelVelocities(255,-255,1000);
}
while (myFinch.isRightLightSensor(10) ==
true);
// run with lights off – see one spin first
GET ORIENTATION INFO
Orientation: All true/false
isFinchLevel()
isFinchUpsideDown()
isBeakDown()
isBeakUp()
isLeftWingDown()
isRightWingDown()
SEE EXISTING GAMES
Open the sample code
Dance
Simon Says
Our game
At least two sensors used for input
At least two sensors used for output
Can use terminal window
Develop with Eclipse
Either two players or track top score
Clear win / lose message
Be sure to research other games
YOUR TAKEAWAY
A sense of how the finch can be controlled by code
How you get information from the finch's sensors
How you send information to the finch to control
its movement
YOUR TURN
Download java finch package
Open project
New class
Import above class:
Finch myFinch = new Finch();
Close your finch at the end of main
import edu.cmu.ri.createlab.terk.robot.finch.Finch;
Inside main method, create a finch object
http://www.finchrobot.com/Creating,%20Compiling,%20and%2
0Running%20Programs%20for%20Finch/bluej
myFinch.quit();
System.exit(0);
Add code to make it move right after you create myFinch.
Pass around the robot to try it. Save your code for next lab
if you do not get a turn