ZigZagCourseNavigation

Calculating a Zig-Zag Course Task: Accurately program a robot to drive a zig-zag course. (Level of accuracy: The rear wheels of you robot should not touch the outline of the course.) To complete this course the robot will have to: a) travel a distance, b)turn, c) travel a second distance, d) turn again, and e)drive off the course. Sample calculations to complete parts a, b, c, and d of this course are shown below. This course is available if you want to practice, before you attempt have your robot navigate the course assigned to you.

ZigZag_Course_Calculations Only

Below are detailed instructions for course D:

Circumference = 3.14 x diameter

Wheel diameter: 5.5cm Traced Circle diameter: 25

Calculating Circumferences: 3.14 x diameter = Circumference Wheel Circumference = 3.14 x 5.5cm = 17.27cm Traced Circle Circumference = 3.14 x 25 = 78.5cm

__A. The first distance is 9.7 cm__. Step 1: Find the rotations using this formula. Distance = wheel circumference x wheel rotations



Step2 – Find the program degrees using this formula: Rotation x 360 = program degrees 0.5617 x 360 = program degrees 202 = program degrees

__B. The first turn is 37 degrees.__ Step 1: Find the distance the turning wheel needs to travel using this formula: . Step 2: Find the rotations using this formula. Distance = wheel circumference x wheel rotations

8.07cm = 17.27cm x Rotations Fill out the formula

__8.07cm__ = __17.27cm x Rotations__ Divide both sides by 17.27 17.27cm 17.27cm

0.467 = Rotations

Step 3: Find the program degrees using this formula: Rotation x 360 = program degrees 0.467 x 360 = program degrees 168 = program degrees

C. The second distance is 25.2cm. Step 1 -Find the rotations using this formula. Distance = wheel circumference x wheel rotations

25.2cm = 17.27cm x Rotations Fill out the formula

__25.2cm__ = __17.27cm x Rotations__ Divide both sides by 17.27cm 17.27cm. 17.27cm

1.459 = Rotations

Step2 – Find the program degrees using this formula: Rotation x 360 = program degrees 1.459 x 360 = program degrees 525 = program degrees

D. The second turn is 98 degrees. Step 1: Find the distance the turning wheel needs to travel using this formula:

__Degrees of the turn__ = __Distance wheel needs to travel__ Degrees in a circle Circumference of traced circle

__98__ = __Distance__ Fill out the formula 360. 78.5cm

98 x 78.5cm = 360(Distance) Cross multiply

__98__ x __78.5cm__ = __360(Distance)__ Divide both sides by 360 360. 360

21.37cm = Distance

Step 2: Find the rotations using this formula. Distance = wheel circumference x wheel rotations

21.27cm = 17.27cm x Rotations Fill out the formula

__21.37cm__ = __17.27cm x Rotations__ Divide both sides by 17.27 17.27cm. 17.27cm

1.237 = Rotations

Step3: Find the program degrees using this formula: Rotation x 360 = program degrees 1.237 x 360 = program degrees 445 = program degrees

E. Program the robot to drive straight for 720 program degrees. (Two wheel rotations)