Robot courier: plan and program

The task has three levels. They have common rules and evaluation criteria, but the fields are different. The field is selected based on which lesson tasks you have already completed.

1. Open the logbook. Write down which tasks ★ you did and in which lessons.
2. Compare with the list needed for the middle field. What's missing?
3. Select the field yourself. If you choose the average, but there is no task ★, write down how and when you complete it.

The task has three levels. They have common rules and evaluation criteria, but the fields are different.

1. Write down from the journal the tasks ★★ that you got, and the reliability numbers from the lessons: turning error, how many times the robot passed a sharp arc, accuracy of stopping at the load, delivery reliability from lesson 5.2.
2. For the advanced field, name the two weakest skills based on these numbers.
3. Choose the field yourself and justify your choice with numbers. Write down what you will do with your weak skills before the test.

Weight 1 → place 1, weight 2 → place 2, then finish. The route is given at the intersections:

You decide where to turn at each intersection - left, right or straight. The robot passes through some intersections several times. Branches that are not on the route are not used.

The cans are in positions 1 and 5. Before planning, draw a card from the pile: it says in what order and where to transport them.

There is no ready-made route: you choose the path along the intersections yourself, before starting. There are several correct ways. On the right side of the field there is a steep S-shaped link.

Make sure your robot passes the S-shaped connection with the load.

If at least one skill does not work, the entire program will not work. Check each one three times short experience.

Test your skills by their numbers: for each, write down which result you consider reliable and check it five times.

Mark the skills that failed five times out of five - you will start working on them.

The plan has left, right and straight turns. Each encounter with an intersection is recorded on a separate line - even if it is the same intersection. The program does not see the letters: it only knows which solution it is currently executing.

The plan is drawn up according to your card. For each delivery, you chose the path according to the letters of the intersections and can explain why it was chosen. The route is written in such a way that only the decisions at the intersections change for another card.

We assemble the program from functions. When the route is written down using function calls, it is easy to compare it with the plan.

// Робот-курьер, средний уровень: маршрут по плану из журнала.// Функций здесь нет: перенеси свои проверенные функции из уроков 2.1–5.2 в раздел ниже.// Маршрут в setup() разбит на участки плана. В каждый участок впиши вызовы функций. // --- Контакты, измерения и настройки из своих скетчей --- // --- Мои функции (перенеси и проверь каждую отдельно) ---// Нужны: остановка моторов, прямой проезд, линия до перекрёстка, проезд перекрёстка// прямо, поворот налево и направо на перекрёстке, разворот на линии, подъезд к грузу,// взять груз, поставить груз. void setup() {  // Подготовь выводы, датчики и захват. Моторы стоят.   // Участок 1. Старт → линия:   // Участок 2. Линия → груз 1:   // Участок 3. Груз 1 → место 1:   // Участок 4. Место 1 → груз 2:   // Участок 5. Груз 2 → место 2:   // Участок 6. Место 2 → финиш, стоп:} void loop() {  // Задание выполняется один раз в setup(). После финиша робот стоит.}

1. Open the template and save it under your name. There are no ready-made functions in it.
2. Transfer your proven functions from lessons 2.1–5.2. Check the list in the preparation that you haven’t forgotten any.
3. Before each line of the plan in the journal, write down which function performs it. If there is no function for a string, write it and check it separately.

Requirement 1. The program is compiled from your proven programs for lessons 4.2–5.2, and not from a blank:

• actions - functions: line to the intersection, decisions at the intersection, approach to the load, pick up, deliver, turn around;
• route - data, separate from actions: for another card, only the route lines are changed, the functions are not affected;
• every function that waits for something has protection against infinite waiting.

There is no own program from lesson 5.2 - take the solution from lesson 5.2 from the teacher as a basis; You write the route and defenses yourself.

1. Write down in your journal a list of the functions of your program: what each one does and in which lesson it was tested.
2. Mark functions without infinite wait protection and add protection.

1. Write down in the log the calls to the functions of the first section according to the plan: exit, line, intersections, turns, access to the cargo. Then transfer them to setup().
2. Check only this part on the field three times. The robot must stop in front of load 1 every time.
3. Working - save a copy: "working version 1".

Acceptance of part 1. Robot from start to load 1: three times out of three, including when it was placed in the start area 2 cm to the left or right and slightly turned.

1. Write the route of the first part into the program data and check.
2. Write down each failure: which function did not work and why.
3. Working - save "working version 1".

1. Record the function calls for the first delivery in the logbook: grip, turn around, travel to location 1, release, return to the road. Then add them to the program.
2. Check only this part three times: place the robot in front of load 1 and start it.
3. Works - save "working version 2".

Acceptance of part 2. First delivery three times out of three, including when the load is moved 1 cm to the side of the line.

1. Add the first delivery to the route data and check it separately: place the robot in front of cargo 1.
2. How does the robot know where to release? Write down how this place is determined in your program and how accurately.
3. Works - save "working version 2".

1. Add the second delivery and the route to the finish as planned. Weight 2 is in a different place, so the turns will be different. Each meeting with an intersection is a separate line.
2. At the end there is a direct entry to the finish and a stop. After the finish, the robot must stand.
3. Run the entire route from the start. If it breaks, launch only the remaining part from the point of failure. Save "working version 3".

1. Add the second delivery and the path to the finish. After the finish the robot stands.
2. Run the entire route from the start. Save "working version 3".
3. Check the separation of the route from the actions: draw another card, make a route for it and change route data only. The robot goes through a new route at least once.
4. Write down which parts of the route are unreliable and what you will check in Lesson 6.2.