Worksheet: Clap On, Clap Off

Introduction to Mobile Robotics > Clap On, Clap Off

Follow the steps in the online directions, and answer the questions at the appropriate times.

Construct: Write Your Program

Observations: 1. Record the sound value for quiet. The sound value for
quiet on our robot is 6%

2. Record the sound value for loud. The sound value for
loud on our robot is 100%.

3. Record the threshold value you calculated. The

threshold value for the value we created was 53. Contemplate

4. Write a brief description of what each block in your program does.

Block 1: Sound Sensor telling the robot to start when the sound reaches 70. Block 2: Sound Sensor telling the robot to wait until the sound drops below 70. Block 3: Motor C forward Block 4: Motor B forward. Block 5: Sound Sensor telling the robot to stop when the sound reaches 70. Block 6: Sound Sensor telling the robot to wait until the sound drops below 70. Block 7: Motor C stops Block 8: Motor B stops. 5. Define the Wait for Clap behaviour you built in the program.

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What are the two blocks that make up the behaviour? The four sound sensor blocks make up the behaviour. Why isnt a single Wait For Sound block good enough? A single Wait For Sound block is not good enough as it doesnt allow time for silence and therefore will stop immediately.

ii.

6. What does the threshold for the sound sensor do? What would happen if you set the threshold higher? Lower? If we set the threshold higher we would need a louder clap to trigger the robot. If we set a lower threshold then because of the noise in the classroom the robot would think that every noise was a signal to start/stop. 7. Why did you use a value from the sound sensor that was halfway between silence and clapping for your threshold value? We used a value from the sound sensor that was halfway between silence and clapping for our threshold value because that was the correct noise value to define loud or soft. 8. Does your robot only respond to claps, or do other sounds trigger starting and stopping as well? Why do you think this is? Our robot responds to any noise loud enough to go over the threshold. This is because it is not looking specifically for a clap and will start/stop for any noise that exceeds the threshold. 9. Marisa is using the robot as an actor in a class play. She wants the robot to start running across the stage on cue. The cue will be the sound of a door slamming as another (human) actor goes offstage. i. How should she go about programming her robot to recognize the correct sound and begin its performance at the right time? Be specific. She would have to measure the amount of noise created by the door and use the same program we used, adjusting the threshold. What possible problems might there be with this plan? As a performance includes clapping, the clapping may set off the robot.

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Continue
Answer the following:

10. How did the loop change the robots behaviour?

11. How many times will the loop run?