how robot operations机器人操作如何.pdf

Howto:Robotoperations

MindCubercansolveastandard3x3x3Rubik’sCube.Itworksbestwithcubeswiththestandardcolors,red,

orange,green,blue,yellowandwhitebutwillworkwithsomeothercombinations.Thecubemustbevery

smoothandeasytoturn.

Selectandrunthe“MindCuber”softwarefileontheNXT.MindCuberstartsbymovingthe“tiltarm”and

thenthe“scanarm”asfarasitcantodeterminewheretheyare.Thecolorsensorflashesredduringthis

processtoshowthatitisrunning.IfthereisaRubik’sCubeintheturntable,MindCuberdetectsthisand

displayamessageaskingyoutoremovethecube.

WhenMindCuberdetectsthatthereisnocubepresent,itstopsflashingthecolorsensoranddisplaysa

messageaskingyoutoinsertascrambledcube.

Youmustmakesurethatthe“turntable”iscorrectlyalignedsothatitsfrontedgeisinthesamedirection

astheframesinceMindCuberisunabletodothisitself.UsetheleftbuttonontheNXTtorotatethe

turntableanti-clockwiseandtherightbuttontorotateitclockwise.Shortpresseswillrotatebysmallsteps

forfineadjustment.Alongpresswillcontinuouslyrotatetheturntableforlargeradjustments.Whenthe

motorisstopped,theturntablecanrotatealittlebecauseofthegearsbetweenitandthemotor.Tryto

rotatetheturntableverygentlybyhand.Checkthatyoucanrotateitbythesameamounteachwaypast

thecorrectposition.Theturntableusuallyonlyneedstobealignedonceeachtimetheprogramisstarted

butyoucanadjustitatanytimewhenMindCuberiswaitingforthecubetobeinserted.

PlacethescrambledRubik’sCubeintheturntable.MindCuberusestheultrasonicsensortodetectwhen

thecubeispresentandstartsautomatically.Itscansthecubeasquareatatimeusingthecolorsensor.

Afterall6facesofthecubehavebeenscanned,MindCuberflashesthecolorsensorredwhileitattempts

todeterminethecolorsandthenflashesi