173 lines
5.1 KiB
Markdown
173 lines
5.1 KiB
Markdown
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# Autonomous Parking
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Design cars that can park themselves safely without driver intervention.
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## Connect
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**Think about:**
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* How do autonomous cars work?
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* What would it take to ensure that autonomous cars are safe?
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* What types of movements do autonomous cars need to perform?
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## Construct
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### Build
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Build a LEGO MINDSTORMS vehicle that can park itself safely without driver intervention.
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Start by constructing this [model](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf).
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### Checks
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Before you program, check:
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* Are all the wires correctly connected from the motors to ports B and C?
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* Are the wheels correctly installed?
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* Are the wheels rotating freely?
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### Program
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Write a program that will make the robot turn three times in various ways.
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**Think about:**
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* How will you make the robot turn in different ways?
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* How can the robot make a three point turn?
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### ~hint
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Consider using these blocks in your solution:
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```block
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motors.largeBC.tank(50, 50)
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pause(500)
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```
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### ~
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### Sample Solution - Three Point Turn
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1. When the brick button is pressed, turn the driving base right and stop after 1.5 seconds.
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2. Turn the driving base left and stop after 1 second.
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3. Move the driving base forward for 3 seconds.
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```blocks
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brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
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motors.largeBC.tank(75, 30)
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loops.pause(1500)
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motors.largeBC.tank(-30, -75)
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loops.pause(1000)
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motors.largeBC.tank(50, 50)
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loops.pause(3000)
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})
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```
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### Download and test
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Click Download and follow the instructions to get your code onto your EV3 Brick. Press the center button on the EV3 Brick to run the program.
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## Contemplate
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Choose one of the following autonomous driving scenarios and create a program for it:
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* Parallel parking
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* Angle parking
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* Perpendicular parking
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### ~hint
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Document pseudocode for your program before choosing programming blocks.
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### ~
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### Sample Solution - Parallel Parking
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1. When the brick button is pressed, drive forward in a straight line for 3 rotations.
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2. Wait for 1 second.
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3. Reverse motor rotation while turning for 1.5 rotations.
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4. Reverse motor rotation while turning the other way for 1.5 rotations.
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5. Drive backward in a straight line for 0.5 rotations.
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6. Drive forward in a straight line for 0.5 rotations.
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```blocks
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brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
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motors.largeBC.steer(0, 50, 3, MoveUnit.Rotations)
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pause(1000)
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motors.largeBC.steer(-50, -50, 1.5, MoveUnit.Rotations)
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motors.largeBC.steer(50, -50, 1.5, MoveUnit.Rotations)
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motors.largeBC.steer(0, -50, 0.5, MoveUnit.Rotations)
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motors.largeBC.steer(0, 50, 0.5, MoveUnit.Rotations)
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})
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```
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### Download and test
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Click Download and follow the instructions to get your code onto your EV3 Brick. Press the center button on the EV3 Brick to run the program.
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### Differentiation
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Create a program that simulates displaying appropriate warning lights while parking.
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### ~hint
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Consider using this block in your solution:
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```block
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brick.setStatusLight(StatusLight.OrangeFlash)
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```
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### ~
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### Sample Solution - Simulating Reverse Gear and Reverse Warning Lights
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1. When the brick button is pressed, drive forward in a straight line for 3 rotations.
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2. Wait for 1 second.
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3. Set brick status light to orange flash.
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4. Reverse motor rotation while turning for 1.5 rotations.
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5. Reverse motor rotation while turning the other way for 1.5 rotations.
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6. Drive backward in a straight line for 0.5 rotations.
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7. Set brick status light to off.
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8. Drive forward in a straight line for 0.5 rotations.
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```blocks
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brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
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motors.largeBC.steer(0, 50, 3, MoveUnit.Rotations)
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pause(1000)
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brick.setStatusLight(StatusLight.OrangeFlash)
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motors.largeBC.steer(-50, -50, 1.5, MoveUnit.Rotations)
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motors.largeBC.steer(50, -50, 1.5, MoveUnit.Rotations)
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motors.largeBC.steer(0, -50, 0.5, MoveUnit.Rotations)
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brick.setStatusLight(StatusLight.Off)
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motors.largeBC.steer(0, 50, 0.5, MoveUnit.Rotations)
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})
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```
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### Download and test
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Click Download and follow the instructions to get your code onto your EV3 Brick. Press the center button on the EV3 Brick to run the program.
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### Share
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**Think about:**
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* What challenged you?
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* Were there any surprises?
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* How can you improve your program?
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* Can your program be more streamlined? Have you used too many blocks?
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* Is there a more efficient way to build your program?
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* How can your program be used in real-world scenarios?
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## Continue
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* Click on the JavaScript tab and experiment with changing the values in the code.
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* Add a custom image or sounds from the Brick or Music menus.
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* Create a video of your project, especially your final presentation and your robot’s performance. Explain some important features of your software program.
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* Include an image of your program with comments.
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* Add a team photograph!
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Congratulations! What will you design next?
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