Computer Science Homework Help

C.1 Task 1 – Distance (Task + Plot)
Implement a controller called ‘Lab1_Task1.py’. The robot should move in a straight line for “X”
inches at constant velocity. The robot should use the kinematics formulas to move for “X” inches
in “Y” secs and stop based on time, not on readings from position sensors. If the robot cannot
complete the movement in the given amount of time, instead of moving forward, the program
should display an appropriate message. Provide a plot, showing “Distance” vs. “Time”. Distance
should be computed from PositionSensor readings. You can write this data into a file from your
Python console as the simulation runs. During evaluation, the TA will test different values for
“X” and “Y”.
C.2 Task 2 – Orientation (Task + Plot)
Implement the program ‘Lab1_Task2.py’. The robot should rotate “X” degrees and then stop.
The robot should complete the movement in “Y” seconds. The robot should print its IMU
reading to match the “X” rotation. The program should work for any value “X”. If the robot
cannot complete the movement in the given amount of time, the program should display an
appropriate message. Provide a plot, showing “Angle” vs. “Time”. Angle should be computed
from IMU readings. You can write this data into a file from your Python console as the
simulation runs. During evaluation, the TA will test different values for “X” and “Y”.
C.3 Task 3 – Trapezoid
Implement a controller called ‘Lab1_Task3.py’. The program should make the robot follow the
path shown in Figure 4 in a clockwise direction. The trapezoid has length “H”, top width “W”,
and internal angles “a” and “b”. Robot should start at (0, H/2) moving counterclockwise. After
completing the trapezoid, the robot should stop. The full motion must be completed in a
maximum of “Y” seconds, moving at the same constant speed “X” inch per sec, except when
turning at the corners. Note that the robot may stop based on time or encoder readings. If the
motion cannot be completed for any given reason, the robot should display an appropriate
message. The TA will test for different values for “H”, “W”, “a”, “b”, “X” and “Y”.
Figure 4. Trapezoid shaped path to be followed by the robot.
C.4 Task 4 – Circles
Implement a controller called ‘Lab1_Task4.py’. The program should make the robot move
around the two circles of radius “R1” and “R2”, as shown in Figure 5. The robot should start at
(0, 0) moving counterclockwise around circle with radius “R1”. When reaching (0,0) again, it
should move clockwise without stopping around circle with radius “R2”. The robot should
navigate the full circumferences of the two circles in a maximum of “Y” seconds, moving at the
same constant speed “X” inch per sec. Note that the robot may stop based on time or encoder
readings. If the motion cannot be completed for any reason, the robot should display an
appropriate message. The TA will test for different values for “R1”, “R2”, “X” and “Y”.Full question attached in the file below