My CS101 Robot Webpage

Loopy is the best robot ever. She moves fast as lightning, and she can draw pretty stars!

Hi, I'm Jessica. I am in Computer Science (Games) because I think CS is a very useful and widely applicable skill, and I very much enjoy design and digital art.
I love projects and making things, and I can be kind of a perfectionist. I hope to discover new interests during my studies here at USC!

Our work of art:

Today we tested our Line sensors. 0 is for light surfaces, and 1 is for dark!

1. Loopy first sings a part of the chorus to "A Beautiful World," which is triggered by the getBattery sensor when the battery level is at least 6.5. Next she sings the beginning of Beethoven's 5th Symphony when triggered by the getObstacle sensor after encountering an obstacle.

2. Loopy draws continuous loops, triggered by the getLine sensor while she is on a light surface (0).

3. Loopy's surprise ability is being able to randomly draw a circle, square, or triangle!

4. Loopy is triggered by multiple sensors (getLine, getBattery, getObstacle) during her performance. First she draws her loops until she senses the dark surface. After singing a song because her battery level is high, she moves forward until she is faced with an obstacle. She sings ominously at the obstacle before firing beeps! Lastly, Loopy shows off her spontaneity when she goes back to the whiteboard to draw a random one of three shapes. #include <Myro.h> #include <math.h> #include <stdio.h> #include <iostream> #include <cstdlib> using namespace std; int main() { connect("/dev/rfcomm0"); robot.setName("Loopy"); cout << "getLight: " <<robot.getLight("center") << endl; cout << "getLine: " <<robot.getLine()[0] <<", " << robot.getLine()[1] <<endl; cout << "getIR: " <<robot.getIR()[0] <<", " << robot.getIR()[1] << endl; cout << "getBattery: " << robot.getBattery() << endl; cout << "getObstacle: " << robot.getObstacle("left") << ", " << robot.getObstacle ("center") << ", " << robot.getObstacle("right") << endl; while (robot.getLine()[0] == 0) { robot.motors(2,0); wait(1); robot.motors(1,-0.5); wait(1.5); robot.motors(2,-0.5); wait(1); robot.motors(2,0); wait(1); } double battery = robot.getBattery(); if(battery>=6.5) { robot.beep(0.3,523.3); robot.beep(0.125,523.3); robot.beep(0.25,523.3); robot.beep(0.15,587.3); robot.beep(0.15,659.3); robot.beep(0.525,784); robot.beep(0.45,987.8); robot.beep(0.525,880); } robot.forward(1,1); double obstacle = robot.getObstacle("center"); if (obstacle==0) robot.forward(2); else robot.stop(); robot.beep(0.5,784); robot.beep(0.5,784); robot.beep(0.5,784); robot.beep(1.5,622.3); robot.beep(0.5,698.5); robot.beep(0.5,698.5); robot.beep(0.5,698.5); robot.beep(1.5,587.3); for(int n=10; n>0; n--) { cout << n << ","; } cout << "FIRE!\n"; robot.beep(0.1,880); robot.beep(0.1,880); robot.beep(0.1,880); robot.beep(0.1,880); wait(5); cout << "Shall I draw a circle, a square, or a triangle?" << endl; srand(time(0)); int i = rand()%3; if(i==0){ //draw circle robot.motors(2,-0.5); wait(4.2); robot.stop(); } if(i == 1){ //draw square robot.forward(1,0.5); robot.turnLeft(1,0.75); robot.forward(1,0.5); robot.turnLeft(1,0.75); robot.forward(1,0.5); robot.turnLeft(1,0.75); robot.forward(1,0.5); } if(i==2){ //draw triangle robot.forward(1,0.5); robot.turnLeft(1,1); robot.forward(1,0.5); robot.turnLeft(1,1); robot.forward(1,0.5); } robot.beep(0.1,784); robot.beep(0.2,784); robot.beep(0.1,784); robot.beep(0.2,880); robot.beep(0.2,987.8); robot.beep(0.2,1047); disconnect(); return 0; }

I coded the three behaviors Alive, Coward, and Aggressive along with a fourth behavior, Love. When you input 4 for the Love behavior, it runs and stops when facing the light. The darker it is, the closer the normalized values are to 1.

#include <Myro.h>
#include <math.h>
#include <stdio.h>
#include <iostream>

using namespace std;

double Ambient;

double normalize(int v) {
	if (v > Ambient) {
		v = Ambient;
	}
	return 1.0 - v/Ambient;
}

double normalize2 (int v) {
	if (v > Ambient) {
	v = Ambient;
	}

return v/Ambient;
}

void alive() {
	Ambient = robot.getLight("center");
	while (true) {
		int L = robot.getLight("center");
		robot.forward(normalize(L));
	}
}

void coward() {
	Ambient = (robot.getLight("left") +
		   robot.getLight("center") +
		   robot.getLight("right")) / 3.0;
	while (true) {
		int L = robot.getLight("left");
		int R = robot.getLight("right");
		robot.motors(normalize(L), normalize(R));
	}
}

void aggressive() {
	Ambient = (robot.getLight("left") +
		   robot.getLight("center") +
		   robot.getLight("right")) / 3.0;
	while (true) {
		int L = robot.getLight("left");
		int R = robot.getLight("right");
		robot.motors(-normalize(L), -normalize(R));
	}
}

void love() {
	Ambient = (robot.getLight("left") +
		   robot.getLight("center") +
		   robot.getLight("right")) / 3.0;
	while (true) {
		int L = robot.getLight("left");
		int R = robot.getLight("right");
		robot.motors(-normalize2(L), -normalize2(R));
	}
}

int main() {
	int num =0;
	connect("/dev/rfcomm0");
	//Get user input
	cout << "Enter 1 for Alive behavior" << endl;
	cout << "Enter 2 for Coward behavior" << endl;
	cout << "Enter 3 for Aggressive behavior" << endl;
	cout << "Enter 4 for Love behavior" << endl;
	cin >> num;
	if (num==1)
		alive();
	else if (num==2)
		coward();
	else if (num==3)
		aggressive();
	else if (num==4)
		love();
	else cout << "Input Error" << endl;

disconnect();
	return 0;
}

1. Opening Ceremony: I put the user input algorithm in a while loop, which continues until the battery falls below 6.5 as sensed by the getBattery sensor. The program asks for the user to input a number 1-5, and for each command the user can input the same number again to stop the command (e.g. enter 1 to turn left, enter 1 again to stop turning). The Fight Song plays when the user inputs 4.

2. Line Following: Lizhi uses the getLine sensor. She makes it so that when both getLine sensors are displaying 1, the robot will go forward. If the right sensor senses a light surface, then the robot will turn left, and vice versa.

3. Maze Solving: N/A (ommitted because we are a two-person group)

4. Fastest Drawer: I use the commands robot.forward, robot.turnLeft and robot.turnRight to make the drawing. I use full speed (1) for robot.forward, but I use half speed (0.5) for the turns so that the drawing stays accurate.

5. Structuring the behaviors: We create a function for each behavior, and user input determines which behavior to perform (1 for Opening Ceremony, 2 for Line Following, 3 for Fastest Drawer).

>>>>>>>>>>>>>>>OUR CODE<<<<<<<<<<<<<<<

Prelab Answers:

1.  Our USAR strategy is to each take a section of the unmapped area and take pictures as we search.  My algorithm for this task creates two arrays, one for all the pictures that are taken and one for edited pictures in which there are lost Scribblers.  I create a function that takes pictures and puts the pictures into the first array.  Next there is a function that allows remote control of the robot, including an option to take a picture.  I also create a function that paints a green box around the red Scribblers in the pictures we take.  To use this paint function, I also create a function that senses whether a picture has significant red color in it, and then uses the paint function to draw a box around that section of red.  I use the getObstacle sensor to check for obstacles before moving the robot forward.  I also check all the sensors before beginning the program.

2.  To navigate through the mock disaster area, I use the remote control algorithm that allows user input to move a set distance forward, or turn left or right.  When the user inputs to move forward, the robot checks the getObstacle sensor and moves only when there is nothing in the way.  I estimate where to navigate based on pictures taken, which are also directed by user input.

3.  To locate lost Scribblers, I use the remote control behavior to move around and take pictures until spotting a robot.  One of the user-defined functions finds Scribblers by checking the pictures in the first array for a significant block of red, and puts these pictures into the second array. When the red value is greater than the green and blue values combined, the function designates that as a significant amount of red.

4.  Our mapping strategy is to section off the unknown area and navigate by taking pictures before moving. This involves the user-defined functions that remote control the robot and take pictures that are put into the first array.

1. I will scan the image vertically, set columns true that have an alien. When a column first scans true, that is the start of an alien, and when it next scans false, that is the end of an alien.
2. My class Alien includes data members greenpix (total number of pixels that make up an alien), picHeight and picWidth, alienHeight and alienWidth, and the vectors x_start, x_end, y_start, and y_end.  Functions include the constructor and destructor, areThereAliens, verticalScan, horizontalScan, BubbleSort, and calculate (calculates alien dimensions, sorts aliens).
3. I will change the pixel value requirements after testing to make sure the program doesn�t recognize too much or too little.
4. I will start with MARS1.jpg, because there is only one object to consider.
5. To sort aliens by size, I will calculate the approximate area of an alien with the alien dimensions. 
6. To sort by location, I will use the y values of the pixels on the bottom border of each alien.
7. The Big O will be O(n^2).

1. I am trying to teach the structure of a for loop and how it works.
2. The program engages the user through Scribbline. I will first ask the kid to look at the code after I describe what a for loop is and ask him to enter in the cpp file whatever number he wants to see. Then through the Scribbline user interface, he or she can press the buttons to see visually with the robot how the loop works.
3. I will download Scribbline and write for it the functions I want to demo.
4. For evaluating the user interface, I will count the number of times the user clicks the buttons. I can evaluate how engaging it is by the average number of times each user clicks buttons.
5. The evaluation information will be collected with an int variable that increases with each click. The program will print to the screen at the end the total number of button clicks.
6. I will create an evaluation report by reporting the average time a kid spent learning about for loops (based on the number of button clicks) before he understood how the code related to the robot behaviors.

MY CS101 ROBOT WEBPAGE