The Problem: A. The robot motors can be commanded via a Move Tank function block

Question

The Problem: A. The robot motors can be commanded via a Move Tank function block to rotate for a specified duration in seconds, rotations, or degrees. You can also specify a power level to the motor, which determines the speed at which it spins Suppose the following are true for your robot: The wheels have a radius of 2.5cm . when the motors are powered at 100%, they spin at 2.75 rotations/second. You wish to send the robot forward a distance of 0.5m. Answer the following questions and show all work. (i) How many rotations must the wheels turn? (i) How many degrees must the wheels turn? (ii) How many seconds must the wheels turn? (iv) Suppose the motors are powered at only 50% of full power and, consequently, spin half as fast as before. Repeat question (1) (3). (v) Power to the wheels also varies with battery level. You may not know the current battery strength. What are the preferable means to command the robot to travel a given distance that would not be affected by battery strength? Why?

Explanation / Answer

Radius of wheel r =2.5 cm = 0.025 m

Spinning rate f=2.75 rev / sec

Linear Velocity = Radius * Angular velocity

V=0.025*(2*3.14*2.75)= 0.43175 m/s

Now Distance travelled = 0.5 m

(iii) Time taken = 0.5/0.43175 = 1.158 sec

(i) No of rotations = Time * rotation per second = 1.158*2.75 =3.184

(ii) No of degrees = 3.184*360 deg = 1146.24 deg

(iv) At half spinning rate

Radius of wheel r =2.5 cm = 0.025 m

Spinning rate f=2.75/2 rev / sec

Linear Velocity = Radius * Angular velocity

V=0.025*(2*3.14*2.75/2)= 0.215875 m/s

Now Distance travelled = 0.5 m

(iii) Time taken = 0.5/0.215875 = 2.3161 sec

(i) No of rotations = Time * rotation per second = 2.3161*2.75/2 =3.184 (Same as before)

(ii) No of degrees = 3.184*360 deg = 1146.24 deg (Same as before)

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