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Get Joint Angle: Outputting the Joint Angle of the wheels of a Robot

After some driving, you can use the getJointAngle() block to find how many degrees each of the robot's wheel has turn. 

Specifiy the Joint/wheel ID of which you want to get the current position and define a variable to hold that value.

Watch the video to learn more about the getJointAngle() block. 

 

 

Linkbot Image Mindstorm Image Cursor Image
0x2418126-6-12y2418126-6-12
Grid:
Tics Lines:
Width px
Hash Lines:
Width px
Labels:
Font px
Trace Lines:
Robot 1:
Width px
Robot 2:
Width px
Robot 3:
Width px
Robot 4:
Width px
Axes: x-axis y-axis Show Grid
Grid: 24x24 inches 36x36 inches 72x72 inches
96x96 inches 192x192 inches
Quad: 4 quadrants 1 quadrant Hardware
Units: US Customary Metric
Background: Background Image

Robot 1
Linkbot
Mindstorm
Initial Position:
( in, in)
Initial Angle:
deg
Current Position: (0 in, 0 in)
Current Angle: 90 deg
Wheel Radius:
Track Width:
in

Robot 2
Linkbot
Mindstorm
Initial Position:
( in, in)
Initial Angle:
deg
Current Position: (6 in, 0 in)
Current Angle: 90 deg
Wheel Radius:
Track Width:
in

Robot 3
Linkbot
Mindstorm
Initial Position:
( in, in)
Initial Angle:
deg
Current Position: (12 in, 0 in)
Current Angle: 90 deg
Wheel Radius:
Track Width:
in

Robot 4
Linkbot
Mindstorm
Initial Position:
( in, in)
Initial Angle:
deg
Current Position: (18 in, 0 in)
Current Angle: 90 deg
Wheel Radius:
Track Width:
in
Get the Joint Angle of a Robot and Output to the User
Problem Statement:

The pre-placed block will move the robot 90 degrees and get the angle of joint 1 of the robot. Change the value of the driveAngle block so the output is equivalent to one full rotation of the wheel.

/* Code generated by RoboBlockly v2.0 */
#include <linkbot.h>
double angle;
CLinkbotI robot;

robot.driveAngle(360);
robot.getJointAngle(JOINT1, angle);
printf("angle is %g degrees\n", angle);
Blocks Save Blocks Load Blocks Show Ch Save Ch Workspace
Problem Statement:

The pre-placed block will move the robot 90 degrees and get the angle of joint 1 of the robot. Change the value of the driveAngle block so the output is equivalent to one full rotation of the wheel.

 

		

			

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