This example program shows how to program the V5 Clawbot to open and close its claw using Modkit.
Configuration
- A V5 Smart Motor, on Port 3, named ClawMotor.
Program
How it works
First, the when (STARTED)
block tells the robot to run this code when the program starts.
Then, the claw motor is set to spin
in reverse
. Since spin
is used, the motor will begin rotating and the program will continue immediately. Spinning in reverse
causes the claw motor to open the claw jaws.
Then the program will pause for two-tenths of a second ( .2
seconds) to allow the motor to start spinning.
Next, the program will enter a while
loop, continuously checking if the motor's velocity
is negative (< 0
). When the claw jaws open fully, the motor's movement will be resisted. When this occurs, the velocity will become 0
and the loop will exit. Because the loop is empty, nothing else will happen while
the claw is opening.
Then, when the claw has finished opening, the claw motor will be commanded to stop
. This stops the motor's spin
so it does not continue trying to open. When this happens, the claw jaws will spring back slightly.
Next, the program will pause for 1
second.
Finally, the spin
block, while
loop, and stop
block are repeated, but spinning forward
. Spinning the claw motor in the opposite direction will make the claw jaws close. When the claw's motion is resisted, the loop will finish and the motor will stop
.