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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 – Illustrate while and do /while loops with physical example

justin-richard
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The Finch Robot and the While Loop

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  1. The Finch Robot and the While Loop Pepper

  2. The Robot • Developed by Carnegie Mellon students to teach CS • Supports many compilers, including Java • Web site: http://www.finchrobot.com/ • Why – Illustrate while and do /while loops with physical example • Why 2: See how hardware and physical actions can be controlled with code • Lab group practice • Extra: One robot available for creating game • Will need to learn methods • May need to debug issues • Will it help you learn for the final?

  3. Hardware • Input Sensors • Obstacles • Light • Accelerometer (how fast is it going) • Temperature • Output • Wheels turn • LED lights • Speaker • Power • Long USB Cord

  4. Installing • Download Java package from http://www.finchrobot.com/Creating,%20Compiling,%20and%20Running%20Programs%20for%20Finch/bluej • Place it in the folder you want to use • Unzip it • Open sample project in sourceFiles bluej.pkg • Create your own package inside sample project • (or add jar file finch.jar to bluej via preferences Or add finch.jar to the +libs folder inside SourceFiles)

  5. Make a Finch Controller • Bring in the knowledge: • import edu.cmu.ri.createlab.terk.robot.finch.Finch; • Create a finch object that knows finch commands: • Finch myFinch = new Finch(); • Always end with quit and exit: • myFinch.quit(); • System.exit(0);

  6. Controlling commands • Set Finch Beak Color: • myFinch.setLED(red,green,blue); // 0 to 255 • Make Finch Speak: • 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

  7. 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(“I am now All Done"); • // Always end your program • myFinch.quit(); • System.exit(0); • } • }

  8. Get Finch Sense Information • Obstacles: All true/false • isObstacle() • isObstacleLeftSide() • isObstacleRightSide() • Light: All true/false, but using light level threshold. Returns true if less than the 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”);}

  9. 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);

  10. 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

  11. 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

  12. Get orientation info • Orientation: All true/false • isFinchLevel() • isFinchUpsideDown() • isBeakDown() • isBeakUp() • isLeftWingDown() • isRightWingDown()

  13. Your Takeaway • Difference between while and do while • Creating an object of a class gives your program powerful tools • A sense of how hardware can be controlled by code • Perhaps a desire to code your game using this little robot

  14. Your Turn • Probably not needed, but see finch.jar in preferences • Download java finch package • http://www.finchrobot.com/Creating,%20Compiling,%20and%20Running%20Programs%20for%20Finch/bluej • New class • Import above class: • import edu.cmu.ri.createlab.terk.robot.finch.Finch; • Inside main method, create a finch object • Finch myFinch = new Finch(); • Close your finch at the end of main • myFinch.quit(); • System.exit(0); • Add code to make it move right and test. • Then make it do something until it hits a wall.

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