This is my attempt at learning EV3 MicroPython, using the 2019 FLL competition as a context: reimplementing the student's block code using Python.

We would like to replicate all the functionality from the 2019 FLL season. This includes, from the lowest level to the highest:

• Navigation: basic movement with drive motors
• Navigation: moving straight with the gyro sensor
• Navigation: spinning to exact angles with the gyro sensor
• Navigation: line following and aligning along lines
• Gyro testing and calibration
• Launches (for solving missions)
• Menu program (for starting launches interactively during competition)

As of this writting, this code repository has completed almost all of the above goals minus the actual launches for solving missions.

Place UML Here

We ran our simulation code, as well as the same code on the robot ourselves, and captured the print outs from the code. We then made some simple plots of these results to illustrate that our fundamental algorithms worked.

Below we have two simple tests:

• driving straight with gyro sensor and speed ramping
• spinning using the gyro sensor

We can see from the plots below that our code fundamentally works. The motor speed seems to ramp up and down correctly, and we cover the distance we commanded.

Atrifacts from the simulations:

• not surprisingly, our gyro error is almost always zero when driving straight.
• motor angles aren't always smooth: this is an artifact of how we simulate their behavior

Motor speeds ramp up in the first 10% of the journey, then ramp down to a minimum speed in the last 30%.

We can see clearly how the motor speeds drop down to a minimum value as we approach our target angle.

These results come fron actually running the code on the robot. Note that we get smoother results from the real motor angles, but that we see actual errors from the gyro sensor during straight motion.

Otherwise, we see that we get the same basic results as we got from the simulations.

• Using gyro sensor, proportional gain of 0.7.
• Ramping speed up and down.

Spinning right to 90 degrees.

test2 conflict