[PictoBloxExtension]

Mars Rover

Extension Description

Control the Mars Rover Robot with Quarky.

Available in: Block Coding, Python Coding
Mode: Stage Mode, Upload Mode
WiFi Required: No
Compatible Hardware in Block Coding: Quarky
Compatible Hardware in Python: Quarky
Object Declaration in Python: Not Applicable
Extension Catergory: Quarky

Introduction

Mars is a fascinating planet. It’s icy cold and covered in reddish dust and dirt. Like Earth, it has volcanoes, gullies, and flat plains. Scientists can also see channels that look like they were carved by rivers and streams a long, long time ago. Over the years, NASA has sent five robotic vehicles, called rovers, to Mars. The names of the five rovers are Sojourner, Spirit and Opportunity, Curiosity, and Perseverance.

STEMpedia has created a miniature version of the Mars Rover to educate students about the different aspects of the Mars Rover in a more practical way.

The Mars Rover is programmable with PictoBlox in both modes – Block Coding and Python Coding.

Motor and Servo Motor

In our Mars rover, there are a total of 6 motors and 5 servo motors.

The motors provide rotation to the wheels which helps the rover to attain motion in both forward and backward directions. All the left side motors (3 motors) are connected to the left motor port of Quarky and all the right side motors (3 motors) are connected to the right motor port of Quarky using a 3 port wire. This means that to control the Mars rover we have to control only 2 motors – Left and Right. Also, there are 2 parameters to control – Direction (Forward or Backward) and Speed. With this control, the Mars rover can do all the desired motions.

The servo motors help in providing rotation to the complete wheel assembly so that the rover can change its wheel alignments and so its path. These play a major role in turning cases of the mars rover. The front two and the back two-wheel assemblies are connected with one servo motor each. Some important turns:

Turning left on the same point:
Turning right on the same point:
Turning left on a circle:
Turning right on a circle:

Note: The middle wheel assemblies on either side are not connected to servo motors.

The fifth servo motor is connected to the head portion of the Mars rover so that the rover can rotate its head to detect obstacles.

Connecting Mars Rover with PictoBlox

Let’s begin by first connecting Quarky to PictoBlox. Select your preferred type of device i.e. either the desktop/laptop or your smartphone and follow the instructions.

Desktop

Follow the steps below for connecting Quarky to PictoBlox:

First, connect Quarky to your laptop using a USB cable.
Next, open PictoBlox on your desktop.
After that, select Block or Python Coding as your coding environment.
Then, click the Board button in the toolbar and select board as Quarky.
Next, select the appropriate Serial port if the Quarky is connected via USB or the Bluetooth Port if you want to connect Quarky via Bluetooth and press Connect.

And voila! Quarky is now connected to PictoBlox.

Mobile

Follow the steps below for connecting Quarky to PictoBlox:

First, power ON Quarky.
Open PictoBlox on your smartphone. Go to My Space and make a new project by clicking the ‘+(plus)’ button in the bottom-right corner.
Then, tap the Board button in the top-right corner of the toolbar.
Select board as Quarky.
Next, tap the Connect button:
Select your device from the list.

And voila! Quarky is now connected to PictoBlox.

Mars Rover Extension in Block Coding

Click on the Add Extension button and add the Mars Rover extension.

Once loaded, you will find the fresh blocks of Mars Rover in the block palette.

Mars Rover Extension in Python Coding

Click on the Add Modules/Libraries button and add the Mars Rover extension.

To access the library functions, you have to add the object declaration.

quarky = Quarky()
rover = MarsRover(4, 1, 7, 2, 6)

PictoBlox Blocks

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Block Coding Examples

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Python Functions

right()

The function turns the sprite by the specified amount of degrees clockwise. This changes the direction the sprite is facing.

Syntax: right(angle = 15)

think()

The function gives its sprite a thought bubble with the specified text, which stays for the specified amount of seconds.

Syntax: think(message = “Hello!”, time = 0)

play()

The function will play the specified sound, with no pause to its script.

Syntax: play(sound_name = “Grunt”)

clear()

The function removes all marks made by the pen or stamping. It is the only pen block that the Stage can use.

Syntax: clear()

clearled()

The function turns off the specified RGB LED of Quarky (specified with the X and Y position of the LED).

Syntax: clearled(x_position = 1, y_position = 1)

readirsensor()

The function returns the IR sensor analog reading. The reading varies from 0 to 4095.

Syntax: readirsensor(sensor = “IRL”)

runtimedrobot()

The function moves the Quarky robot in the specified direction for the specified time. The direction can be “FORWARD”, “BACKWARD”, “LEFT”, and “RIGHT”.

Syntax: runtimedrobot(direction = “FORWARD”, speed = 100, time = 1)

playsounduntildone()

The function plays the specified audio on the Quarky speaker. The function has a callback, so other functions will be executed after the audio is played.

Syntax: playsounduntildone(audio = “QuarkyIntro”)

analysecamera()

This function is used to analyze the image received as input from the camera, for the feature.

Syntax: analysecamera()

analysecamera()

This function is used to analyze the image received as input from the camera, for the handwritten and printed text.

Syntax: analysecamera()

analysespeech()

When the function is executed, the recognition window will open and you will get a specified time during which PictoBlox will record whatever you say. Once recorded, the speech will be converted to the text of the language you spoke in and saved locally.

Syntax: analysespeech(time = 2, language = “en-US”)

setpickangle()

The function sets the pick action angle with the specified angle. This is useful to set a custom pick angle for the pick and place robot.

Syntax: setpickangle(angle = 40)

tf.expand_dims()

The function returns a tensor with a length 1 axis inserted at the index axis.

Syntax: tf.expand_dims(input, axis = 0, name)

setoffset()

The function calibrates the angles of the servo motors and saves them in the memory of Quarky. Due to some mechanical assembly errors, there may be some misalignment of the servos which can be handled with this block.

Syntax: setoffset(Front Right Hip Offset = 0, Front Left Hip Offset = 0, Front Right Leg Offset = 0, Front Left Leg Offset = 0, Back Right Hip Offset = 0, Back Left Hip Offset = 0, Back Right Leg Offset = 0, Back Left Leg Offset = 0)

pirstatus()

The function reports the state of the PIR sensor connected to the selected pin. The function returns 1 when it is HIGH (or 3.3V) or 0 when it is LOW (or 0V).

Syntax: pirstatus(pin = “D3”)

adaio.connecttoadafruitio()

The function creates an Adafruit IO object that set up the API connection between the PictoBlox and the Adafruit server with the specified username and AIO key.

Syntax: adaio.connecttoadafruitio(username = “username”, AIO Key = “AIO key”)

setoffset()

The function calibrates the angle servo motors and saves them in the memory of Quarky. Due to some mechanical assembly errors, there may be some misalignment of the servos which can be handled with this block.

Syntax: setoffset(Head = 0, Front Left = 0, Front Right = 0, Back Left = 0, Back Right = 0)

setlegoffset()

The function calibrates the angles of the hip and foot servo motors and saves them in the memory of Quarky. Due to some mechanical assembly errors, there may be some misalignment of the servos which can be handled with this block.

Syntax: setlegoffset(Left Hip Offset = 0, Right Hip Offset = 0, Left Foot Offset = 0, Right Foot Offset = 0)

runrobot()

The function allows the robot to move in the specified direction at a given speed.

Syntax: runrobot(direction = “forward”, speed = 100)

moveservo()

The function sets the servo motor connected to the specified servo pin of the Quarky Expansion board to the specified angle. The expansion board can control up to 8 servos simultaneously.

Syntax: moveservo(servo port = 1, angle = 40)

math.acosh()

The function is used to return the inverse hyperbolic cosine of a given value.

Syntax: math.acosh(x)

roboticArm.setoffset()

The function takes the current end–effector position and adds an offset value to it. It then updates the end–effector position in the length and Z directions according to the specified direction. The function also normalizes the end–effector position, ensuring that the calculated offset is applied consistently.

Syntax: roboticArm.setoffset(length Offset = 0, Z Offset = 0)

calibrateir()

This function moves the robot forward and reverse for a set time, collecting IR sensor data on white and black lines.

Syntax: calibrateir()

disablebox()

The function disables the automatic display of the box on face detection on the stage.

Syntax: disablebox()

left()

The function turns the sprite by the specified amount of degrees counter-clockwise. This changes the direction the sprite is facing.

Syntax: left(angle = 15)

switchcostume()

The function changes its sprite’s costume to a specified one.

Syntax: switchcostume(costume_name = “Tobi Jump”)

stopallsounds()

The function will stop any sounds currently being played on all sprites and the Stage. Pressing the Stop button will also stop all sounds, but is rarely used as it also stops all the other scripts running in the project.

Syntax: stopallsounds()

distance()

The function reports the Euclidean distance, in pixels, between it and the mouse-pointer or a specified sprite’s costume center.

Syntax: distance(object_name = “_edge_”)

down()

The function will make its sprite continuously pen a trail wherever it moves until the up() function is used. The color, size, and transparency of the trail can be changed with other functions.

Syntax: down()

readdigitalinput()

The function reads the digital value of the sensors connected to the specified pin. The function returns True or False.

Syntax: readdigitalinput(pin)

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Mars Rover

Introduction

Motor and Servo Motor

Connecting Mars Rover with PictoBlox

Desktop

Mobile

Mars Rover Extension in Block Coding

Mars Rover Extension in Python Coding

PictoBlox Blocks

Block Coding Examples

Python Functions

Python Coding Examples

Company

Community

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