Chapter 5 Challenges

Projects

1. Modify RoamingWithWhiskers so that the BOE Shield-Bot stops and makes a 4 kHz beep that lasts 100 ms before executing its usual evasive maneuver.  Make it beep twice if both whisker contacts are detected during the same sample.  HINT: Use the pause function you developed in the Exercises section to make it pause immediately after the tone starts playing.  Also, a 0.2 second pause after the tone call separates the 0.1 second tone from servo motion, or allows you to hear a second tone.   
2. Modify RoamingWithWhiskers so that the BOE Shield-Bot roams in a 1 yard (or 1 meter) diameter circle.  When you touch one whisker, it will cause the BOE Shield-Bot to travel in a tighter circle (smaller diameter).  When you touch the other whisker, it will cause the BOE Shield-Bot to navigate in a wider diameter circle.

1. What kind of electrical connection is a whisker?
2. When a whisker is pressed, what voltage occurs at the I/O pin monitoring it?  What binary value will the digitalRead function return?  If digital pin 8 is used to monitor the whisker circuit, what value does digitalRead return when a whisker is pressed, and what value does it return when a whisker is not pressed?
3. If digitalRead(7)== 1, what does that mean?  What does it mean if digitalRead(7)== 0? How about digitalRead(5)== 1 and digitalRead(5)== 0?
4. What statements did this chapter use to call different navigation functions based on whisker states?  
5. What is the purpose of having nested if statements?

Projects

1. Modify RoamingWithWhiskers so that the BOE Shield-Bot stops and makes a 4 kHz beep that lasts 100 ms before executing its usual evasive maneuver.  Make it beep twice if both whisker contacts are detected during the same sample.  HINT: Use the pause function you developed in the Exercises section to make it pause immediately after the tone starts playing.  Also, a 0.2 second pause after the tone call separates the 0.1 second tone from servo motion, or allows you to hear a second tone.   
2. Modify RoamingWithWhiskers so that the BOE Shield-Bot roams in a 1 yard (or 1 meter) diameter circle.  When you touch one whisker, it will cause the BOE Shield-Bot to travel in a tighter circle (smaller diameter).  When you touch the other whisker, it will cause the BOE Shield-Bot to navigate in a wider diameter circle.

1. Write a routine that uses a single variable named whiskers to track whisker contacts.  It should store a 3 when no whiskers are contacted, a 2 if the right whisker is contacted, a 1 if the left whisker is contacted, or 0 if both whiskers are contacted.  Hint: multiply the result by two.
2. Modify the loop function in RoamingWithWhiskers so that it makes the BOE Shield-Bot stop and not restart when both whiskers contact at the same time.
3. Add a function named pause to RoamingWithWhiskers.  It should make the BOE Shield-Bot stay still for a certain amount of time. 
4. Modify the loop function so that the BOE Shield-Bot stays still for 0.5 seconds before backing up and turning.

Projects

1. Modify RoamingWithWhiskers so that the BOE Shield-Bot stops and makes a 4 kHz beep that lasts 100 ms before executing its usual evasive maneuver.  Make it beep twice if both whisker contacts are detected during the same sample.  HINT: Use the pause function you developed in the Exercises section to make it pause immediately after the tone starts playing.  Also, a 0.2 second pause after the tone call separates the 0.1 second tone from servo motion, or allows you to hear a second tone.   
2. Modify RoamingWithWhiskers so that the BOE Shield-Bot roams in a 1 yard (or 1 meter) diameter circle.  When you touch one whisker, it will cause the BOE Shield-Bot to travel in a tighter circle (smaller diameter).  When you touch the other whisker, it will cause the BOE Shield-Bot to navigate in a wider diameter circle.

1. Modify RoamingWithWhiskers so that the BOE Shield-Bot stops and makes a 4 kHz beep that lasts 100 ms before executing its usual evasive maneuver.  Make it beep twice if both whisker contacts are detected during the same sample.  HINT: Use the pause function you developed in the Exercises section to make it pause immediately after the tone starts playing.  Also, a 0.2 second pause after the tone call separates the 0.1 second tone from servo motion, or allows you to hear a second tone.   
2. Modify RoamingWithWhiskers so that the BOE Shield-Bot roams in a 1 yard (or 1 meter) diameter circle.  When you touch one whisker, it will cause the BOE Shield-Bot to travel in a tighter circle (smaller diameter).  When you touch the other whisker, it will cause the BOE Shield-Bot to navigate in a wider diameter circle.