(Gyro drift is when the Gyro sensor’s readings increase or decrease rapidly, giving the robot a false reading and messing up the program. If you press the top button, he’s supposed to grab the mineral in front of his claw, but a bad case of Gyro drift is keeping him from doing so. In the program X-T3RRA RC, you use the IR Remote that comes with the EV3 to control Terry’s movement, tank style. The Gyro then resets itself, and the arm returns to the desired position.
At this point the arm should be almost perpendicular to the ground. Motor D raises Terry’s arm until the Gyro sensor detects the Rate of Change of the arm’s angle drop. Motor C opens the claw until the EV3 senses the motor’s power drop (stall), then returns the claw to the desired position. In the beginning of every one of Terry’s programs, Motors C+D reset. They are as follows: an IR sensor in his left arm, a Gyro sensor in his right shoulder, a Color sensor in his right claw and an Ultrasonic sensor that forms his head. It is responsible for rotating the shoulder joint on his right arm up or down, via gear reduction and a turntable. Motor D is another Medium motor in Terry’s left arm. The front of the worm gear housing has been reinforced so the worm gear can’t “worm” its way out (pun intended). It can open and close his claw using a worm gear mechanism and two 24z gears, one on each finger. Motor C is a Medium size motor in his right arm. Motors A+B are the two large motors in his feet that drive his caterpillar tracks using skid-steer (tank style). Thanks to the newfound freedom with EV3, X-T3RRA has four motors. X-T3RRA’s main goal in life is to explore distant planets and collect mineral samples. The name carries over, but now the “E” is a “3” for “EV3.” I usually just refer to him as “Terry,” though. For those of you who are unfamiliar with X-TERRA, the name is an acronym for eXtra Terrestrial Exploration Robot and Rock Analyzer. Hello! I’m back with X-T3RRA, the second version of X-TERRA.
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