# Graphing Calculator Robots

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```					MathBots Challenge:
Get With the Program!

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Centiseconds
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We program our time in centiseconds. CS or CSEC What are centiseconds? 1 1 centisecond = 100 of a second or .01 s 100 centiseconds = 1 second

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Conversions
Change to centiseconds or seconds.
1. 2 s = _____cs
2. 4 s = _____ cs 3. 3.5 s = ____ cs

5. 500 csec = ____ s
6. 60 csec = ____ s 7. 425 csec = ____s

4. 0.7 s = ____ cs

8. 680 csec = ____ s

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Conversions
Change to centiseconds or seconds.
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2 s = 200 cs 4 s = 400 cs

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500 cs = 5 s 60 cs = 0.6 s

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3.5 s = 350 cs
0.7 s = 70 cs

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425 cs = 4.25 s
680 cs = 6.8 s

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Programming Command 1: SEND
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Send command Format: Send({CLR,xxx}) xxx represents the number of centiseconds the car will run. Example: For the car to go forward for 5 seconds, how many centiseconds do you want? Program: Send({CLR,500}).

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Movement Commands
CLR
Certain Time or Bumper 1 = timed movement 2 = move until bumper hits 3 = time or until bumper hits

Left Wheel 0 = backward 1 = no motion 2 = forward

Right Wheel 0 = backward 1 = no motion 2 = forward

122 ?

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Programming Command 2: GET
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Get command Format: Get(R)

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Always follows the Send command.
Example: Send({122,500}) Get(R)
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Programming Command 3: DISP
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Disp command Format: Disp R

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Displays the time that the car has run.
Example: Send({122,500}) Get(R) Disp R
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Creating a New Program
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Press the PGRM button.

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Scroll over to NEW and press ENTER.

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Name the Program
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Call this program CAR. Locate green letters above the buttons. Press each button that has the correct letter above it to spell CAR. You do not need to press the ALPHA key since an “A” is blinking. Press ENTER.
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Entering Commands
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Press the PRGM button again. Scroll over to I/O, but do not press enter yet.

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Scroll up to B: which is the Send command and press ENTER. Enter the command to move the car, {122,500}).

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first parenthesis is already there, but you enter the braces and the end parenthesis. Press ENTER. The cursor will skip a line.
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Press the PGRM key again and scroll over to I/O again.  Scroll up to A: Get( and press ENTER.  Press the ALPHA key  Find the green R above the “times” key and press that key.  Close with a parenthesis and press ENTER. Press 2nd Quit to leave the program.
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Running the Program
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Plug in the link from the calculator to the car. Turn your car on. The switch is on the bottom of the car. Place your car on the floor.
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Running the Program
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Press the PRGM button.

The cursor should be on EXEC.  Scroll to CAR and press ENTER.  Press ENTER a second time.
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Objective
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Program the car to go backwards for 5 seconds. What SEND command will we use? SEND ({100,500})

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Editing the Program
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Press PGRM. Scroll over to EDIT. Scroll down to CAR. Press ENTER. Scroll down to the appropriate line.  If you want to add to the program, go to the blank line with a colon at the beginning.
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Entering Commands
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Press the PRGM button again. Scroll over to I/O, but do not press enter yet.

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Scroll up to B: which is the Send command and press ENTER.

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Enter the command to move the car, {100,500}).

The first parenthesis is already there, but you enter the braces and the parenthesis at the end.  Press ENTER.
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Press the PRGM key again and scroll over to I/O again. Scroll up to A: which is the Get command and press ENTER.

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Press the ALPHA key.  Find the green R above the “times” key and press that key.  Close parentheses and press ENTER.
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Running the Program
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Press the PRGM button.

The cursor should be on EXEC.  Scroll to CAR and press ENTER.  Press ENTER a second time.
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Displaying the Time
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Open the CAR program through EDIT. Press PGRM, scroll over to I/O, scroll down to 3: which is the Disp command, and press ENTER. Press ALPHA and then R. Now when the program is run, the number of centiseconds that the car ran is displayed on the screen.

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Moving Until the Bumper Hits
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If you program the car to move until the bumper hits, you do not need to enter a time. Example: Send({222}). This will send the car forward until the bumper hits some object. If you include a Disp command, the screen will display the time the car ran in centiseconds.
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Programming the Robot to Turn
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Program the car so that one wheel turns while the other wheel has no motion or goes backwards.

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Example: Send({112,95}) This command will turn the car to the left for 95 centiseconds, which is close to a 90˚ turn.
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How Will the Robot Move?
Tell how each command will cause the robot to move. 1. Send({100,700}) Backwards for 7 s. 2. Send({222}) Forwards until the car bumps. 3. Send({322,1000}) Forwards for 10 s or until car bumps. 4. Send({121,90}) Turn to the right for 90 cs. 5. Send({102,45}) Turn to the left for 45 cs. 6. Send({112,125}) Turn to the left for 125 cs.
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What Affects Turning?
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For which command will the car turn further?  Send({120,90}) or Send({121,90})  Why do you think so?

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Give two commands that will cause the car to turn 90˚ to the right. Give two commands that will cause it to turn 180˚ to the right.
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Send({120,90}) will turn the car further.  In Send({121,90}) the right wheel has no motion while the left wheel is moving forward, but in Send({120, 90}) the right wheel is moving backward while the left wheel is moving forward. This helps to accelerate the turning. In fact, it cuts the time roughly in half.
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To turn 90˚:  Send({121,95})  Send({120,47.5})
To turn 180˚:  Send({121,190})  Send({120,95})

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 views: 15 posted: 11/24/2009 language: English pages: 29
Lingjuan Ma MS