Antsy Retrieval

Being a walking robot, Antsy requires a little pre-programming to ensure the legs are calibrated to be in opposite positions.

Here is the leg calibration information (pdf), if you're interested in how it works.

No need to include this in any program you provide, as the robot calibration will be run before each test by us.

Throughout the programming of Antsy you need to remember to always turn both leg motors equal amounts, including when turning. This means when turning right, you need the left motor to move the same amount backwards as the right is moving forwards. Failure to do so could lead to the robot toppling over.

Click on the below heading to reveal the challenge map for Antsy - this is achievable using either software option.

Antsy Challenge

The Challenge: Antsy needs to navigate her way to the exit

Warning! The ceiling is unstable. If red light on, Antsy needs to stop and wait, yellow means move slowly, green means safe to proceed, the exit is lit in blue to terminate program.

Programming Details

Below are the figures to assist in this challenge for the Antsy unit.

Action	Left motor power	Right motor power	Number of rotations	Threshold value
To travel forward one grid square*1	100%	100%	5	n/a
90° turn right	50%	-50%	3.5	n/a
Wall detection	n/a	n/a	n/a	<10

These are not perfect, as the legs do not have much grip on the maze floor surface.
This means you may want to consider a strategy that will counter this issue.

^*1 The maze is made on a 5x5 square grid

Extension

Would your program need to be altered to reach the finish line on this new map? Why? If so, then how?