In a rodeo a barrel race is speed and agility event for horses and riders.  This challenge is to program a Hemisson to complete the barrel race course shown below:



This challenge uses the Hemisson’s downward-facing proximity sensors to follow the dark-brown path around the barrels.  These sensors are located just below the lights on the front of the Hemisson (the ones that flash when dLife connects to the robot.)  See the JavaDoc for the HemissonProximitySensor class for more information about the proximity sensors.


To get started on this challenge:

  1. •Open the BarrelRace.java controller in the SampleCode directory on the CD.

  2. •Save BarrelRace.java to a writeable location on your computer.

  3. •Click the Build icon.

  4. •Place the Hemisson with its downward facing proximity sensors over the dark-brown line on the Test Track from your box.

  5. •Connect to the Hemisson (click Start Up).

  6. •Make note of the values of the left and right downward facing proximity sensors in Proximity tab of the ControlCenter.

  7. •Disconnect from the Hemisson (click Shut Down)

  8. •Replace the 130’s in the step method with values that are 15 more than those you noted earlier.

  9. •Click the Build icon to recompile.

  10. •Reconnect to the Hemisson.

  11. •Click Run.   The Hemisson will move forward until one of its sensors leaves the dark-brown line and then it will stop.



To complete this challenge, modify the step method in BarrelRace.java so that your Hemisson follows the dark-brown path around the barrel race course.

 

Barrel Race Chalenge

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