Phidget Rover Kit - Acceleration

Default Acceleration

What is Acceleration?

Acceleration refers to how quickly your rover can get up to speed and slow down. You can add the following code to your PhidgetsRover project, or create a new project. If you’ve forgotten how to do this, revisit the Configure section from the Getting Started Kit.

Write code (Java)

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package phidgetsrover;

//Add Phidgets Library
import com.phidget22.*;

public class PhidgetsRover {
    public static void main(String[] args) throws Exception {

        //Connect to wireless rover
        Net.addServer("", "192.168.100.1", 5661, "", 0);

        //Create
        DCMotor leftMotors = new DCMotor();
        DCMotor rightMotors = new DCMotor();

        //Address
        leftMotors.setChannel(0);
        rightMotors.setChannel(1);

        //Open
        leftMotors.open(5000);
        rightMotors.open(5000);

        //Move forward at full speed
        leftMotors.setTargetVelocity(1);
        rightMotors.setTargetVelocity(1);

        //Wait for 1 second
        Thread.sleep(1000);

        //Reverse at full speed
        leftMotors.setTargetVelocity(-1);
        rightMotors.setTargetVelocity(-1);

        //Wait for 1 second
        Thread.sleep(1000);

        //Stop motors
        leftMotors.setTargetVelocity(0);
        rightMotors.setTargetVelocity(0);
    }
}

  
//Add Phidgets Library
import com.phidget22.*;

public class PhidgetsRover {
    public static void main(String[] args) throws Exception {

        //Connect to wireless rover
        Net.addServer("", "192.168.100.1", 5661, "", 0);

        //Create
        DCMotor leftMotors = new DCMotor();
        DCMotor rightMotors = new DCMotor();

        //Address
        leftMotors.setChannel(0);
        rightMotors.setChannel(1);

        //Open
        leftMotors.open(5000);
        rightMotors.open(5000);

        //Move forward at full speed
        leftMotors.setTargetVelocity(1);
        rightMotors.setTargetVelocity(1);

        //Wait for 1 second
        Thread.sleep(1000);

        //Reverse at full speed
        leftMotors.setTargetVelocity(-1);
        rightMotors.setTargetVelocity(-1);

        //Wait for 1 second
        Thread.sleep(1000);

        //Stop motors
        leftMotors.setTargetVelocity(0);
        rightMotors.setTargetVelocity(0);
    }
}

  
//Add Phidgets Library 
import com.phidget22.*;

//Define
DCMotor leftMotors;
DCMotor rightMotors;

void setup(){
  try{
    
    //Connect to wireless rover
    Net.addServer("","192.168.100.1", 5661,"",0);
    
    //Create
    leftMotors = new DCMotor();
    rightMotors = new DCMotor();
    
    //Address 
    leftMotors.setChannel(0);
    rightMotors.setChannel(1);
    
    //Open
    leftMotors.open(5000);
    rightMotors.open(5000);
    
  }catch(Exception e){
    //Handle Exceptions
    e.printStackTrace();
  }
}

void draw(){
  try{
    
    //Move forward at full speed
    leftMotors.setTargetVelocity(1);
    rightMotors.setTargetVelocity(1);
    
    //Wait for 1 second
    delay(1000);
    
    //Reverse at full speed
    leftMotors.setTargetVelocity(-1);
    rightMotors.setTargetVelocity(-1);
    
    //Wait for 1 second
    delay(1000);
    
    //Stop motors
    leftMotors.setTargetVelocity(0);
    rightMotors.setTargetVelocity(0);
    
    //Only execute draw once for this example
    noLoop();
    
  }catch(Exception e){
    //Handle Exceptions
    e.printStackTrace();
  }
}

Write code (Python)

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#Add Phidgets library
from Phidget22.Phidget import *
from Phidget22.Net import *
from Phidget22.Devices.DCMotor import *
#Required for sleep statement
import time

#Connect to your rover
Net.addServer("", "192.168.100.1", 5661, "", 0)

#Create
leftMotors = DCMotor()
rightMotors = DCMotor()

#Address
leftMotors.setChannel(0)
rightMotors.setChannel(1)

#Open
leftMotors.openWaitForAttachment(5000)
rightMotors.openWaitForAttachment(5000)

#Move forward at full speed
leftMotors.setTargetVelocity(1)
rightMotors.setTargetVelocity(1)

#Wait for 1 second
time.sleep(1)

#Reverse at full speed
leftMotors.setTargetVelocity(-1)
rightMotors.setTargetVelocity(-1)

#Wait for 1 second
time.sleep(1)

#Stop motors
leftMotors.setTargetVelocity(0)
rightMotors.setTargetVelocity(0)

Write code (C#)

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//Add Phidgets Library
using Phidget22; 

namespace PhidgetsRover{
    class Program{
        static void Main(string[] args){

            //Connect to wireless rover
            Net.AddServer("", "192.168.100.1", 5661, "", 0);

            //Create
            DCMotor leftMotors = new DCMotor();
            DCMotor rightMotors = new DCMotor();

            //Address
            leftMotors.Channel = 0;
            rightMotors.Channel = 1;

            //Open
            leftMotors.Open(5000);
            rightMotors.Open(5000);

            //Move forward at full speed
            leftMotors.TargetVelocity = 1;
            rightMotors.TargetVelocity = 1;

            //Wait for 1 second
            System.Threading.Thread.Sleep(1000);

            //Reverse at full speed
            leftMotors.TargetVelocity = -1;
            rightMotors.TargetVelocity = -1;

            //Wait for 1 second
            System.Threading.Thread.Sleep(1000);
            
            //Stop motors
            leftMotors.TargetVelocity = 0;
            rightMotors.TargetVelocity = 0;
        }
    }
}

Write code (Swift)

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Create two buttons

  

import Cocoa
//Add Phidgets Library
import Phidget22Swift

class ViewController: NSViewController {
    
    //Create
    let leftMotors = DCMotor()
    let rightMotors = DCMotor()
    
    override func viewDidLoad() {
        super.viewDidLoad()
        do{
            //Connect to wireless rover
            try Net.addServer(serverName: "", address: "192.168.100.1", port: 5661, flags: 0)
            
            //Address
            try leftMotors.setChannel(0)
            try rightMotors.setChannel(1)
            
            //Open
            try leftMotors.open()
            try rightMotors.open()
            
        }catch{
            print(error)
        }
    }
    
    @IBAction func moveRover(_ sender: Any) {
        do{
            
            //Move forward at full speed
            try leftMotors.setTargetVelocity(1)
            try rightMotors.setTargetVelocity(1)
            
            //Wait for 1 second
            sleep(1)
            
            //Reverse at full speed
            try leftMotors.setTargetVelocity(-1)
            try rightMotors.setTargetVelocity(-1)
            
            //Wait for 1 second
            sleep(1)
            
            //Stop motors
            try leftMotors.setTargetVelocity(0)
            try rightMotors.setTargetVelocity(0)
            
        }catch{
            print(error)
        }
    }
}

Code review

Looking at the code above, this is what you would expect to happen.

Move forward at full speed for one second.
Move backward at full speed for one second.
Stop moving.

Because of this, you would expect that the rover ends up in approximately the same position it started at. The reason it does not is because of the acceleration property. Essentially, the default acceleration is too low! Move on to the next step to learn how to fix this.

Troubleshoot

Your rover should drive in the direction that the Sonar Phidget is facing. If it isn’t, simply use negative values for your Target Velocity. This will make the motors spin the opposite direction!
Make sure everything is plugged in properly and your VINT Hub is connected to your computer.
Stop running other programs that are using your Phidgets before running a program.

If you are still having issues visit Advanced Troubleshooting

Back to Setup Next: High Acceleration

Default Acceleration

What is Acceleration?

Write code (Java)

Write code (Python)

Write code (C#)

Write code (Swift)

Code review

Troubleshoot

What are Phidgets?

Getting Started

Device Tutorials

Projects

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