Programming Robots · SHS2 Robotics

Lesson notes

Learning Objectives

Indicator: 2.3.3.LI.1 - Implement PID controllers for line and wall following robots.

By the end of the lesson, learners can:

Explain the role of each term in a PID controller (proportional, integral, derivative) and how they combine to correct a robot’s error.
Write a basic PID control algorithm in pseudocode or block-based code for a two-wheeled rover.
Implement a line-following program using a PID controller on a two-wheeled rover robot.
Implement a wall-following program using a PID controller on a two-wheeled rover robot.
Tune the P, I and D gains through observation and explain how changes to each gain affect the robot’s behaviour (Level 3 strategic reasoning).

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Curriculum details

Strand: Robot Construction and Programming (Strand 3)
Sub-strand: Programming Robots (3.3)
Content standard: 2.3.3.CS.1 - 2.3.3.CS.1 Demonstrate understanding and programming skills in the implementation of PID controllers. 2.3.3.LO.1 Implement a PID controller and experiment with the effects of proportional gain, derivative gain, and integral gain on the navigation efficiency of PID-controlled two-wheeled rover robots.
Indicator: 2.3.3.LI.1 - Implement PID controllers for line and wall following robots.
Suggested placement: Semester 2, Week 14 (Week 34 of the year)
Our suggestion, laid out in curriculum order across three terms of twelve weeks. NaCCA does not fix the week, so follow your school's scheme of learning.
Curriculum reference: NaCCA curriculum document, p. 128

Exemplars (from the NaCCA curriculum)

Project-Based Learning: Guide students to understand the implementation of PID controllers programmatically and supervise learners to program a two-wheeled rover to follow a line on a surface.

Assessment (2.3.3.AS.1). The document marks these depth-of-knowledge levels for this indicator: Level 3 Strategic reasoning.

Teaching and Learning Resources:
- Videos
- A computer with required programming software
- Flip boards