Learning Math/CS/Engineering Design with Robotics
Get Joint Angle of Robot's Wheels [getJointAngle()]
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We can pick which joint we want to measure (joint 1 or 3) and choose a varible to store the value of that angle. In the block above, the variable is named "angle." Uses for the getJointAngle Block We can use this to take precise measurements of the angle of each joint. If we used a driveDistance block to drive the robot forward a few inches, we can then use the getJointAngle block to measure the current angle of the robots joints, which can help us determine a relationship between distance traveled and degrees of rotation.
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Example 1: Get the Joint Angle of a Robot and Output to the User
Use the driveAngle block to drive the robot one full rotation of its wheels, then use getJointAngle to get the joint rotation for Joint 1, and print the result in the Console. |
