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Learning Math and CS with Robotics
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Get Joint Angle of Robot's Wheels [getJointAngle()\

After some driving, you can use the getJointAngle block to find how many degrees each of the robot's wheel has turned:

Specify the Joint number you want to get the angle of and define a variable (such as "angle" as shown) to hold that value. For a regular Linkbot-I robot, with wheels on opposite sides, joint 1 is the left side and joint 3 is the right side as it faces forward.

Watch the video to learn more about the getJointAngle block. 

 

 
Example 1: Get the Joint Angle of a Robot and Output to the User

Use the driveAngle block to drive the robot one full rotation of its wheels, then use getJointAngle to get the joint rotation for Joint 1, and print the result in the Console.
Piano
Linkbot Image Mindstorm Image
Grid Lines:
Tics Lines:
Width px
Hash Lines:
Width px
Labels:
Font px
Trace Lines:
Robot 1:
Width px
Robot 2:
Width px
Robot 3:
Width px
Robot 4:
Width px
Grid Size: S M L Simple View: MinView:
Background Image
Coord: x-axis y-axis Grid Lines: x-axis y-axis
Grid: 12x12 inches 24x24 inches 36x36 inches
72x72 inches 96x96 inches 192x192 inches
1x1 inches 2x2 inches Fraction:
xy-Range:
Quad: 1 Quadrant 4 Quadrants 1&4 Quadrants
Units: US Customary Metric Ruler:
Label:

Robot 1
0
S
M
L
Initial Position (x, y):
( , ) in
Initial Angle:
degrees
Current Position (x,y) (0, 0) in
Current Angle: 90 degrees
Wheel Radius:

Robot 2
0
S
M
L
Initial Position (x, y):
( , ) in
Initial Angle:
degrees
Current Position (x,y) (0, 6) in
Current Angle: 0 degrees
Wheel Radius:

Robot 3
0
S
M
L
Initial Position (x, y):
( , ) in
Initial Angle:
degrees
Current Position (x,y) (0, 12) in
Current Angle: 0 degrees
Wheel Radius:

Robot 4
0
S
M
L
Initial Position (x, y):
( , ) in
Initial Angle:
degrees
Current Position (x,y) (0, 18) in
Current Angle: 0 degrees
Wheel Radius:
Load Blocks
Hardware
LArduino
Workspace Save File Show Ch Edit Ch Console 

		

		

			

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