Question

Please answer question 1,2,3 and 4

This is an individual assignment. You are allowed to discuss this assignment with you classmates but any work you submit must be your own. Trapezoidal Velocity Profile: For a certain application, it is desired to program the BaseBot to move forward in the following pattern 1. i. Start from standstill. ii. Move forward at 1/4 speed for 1 sec. ili. Move forward at 1/2 speed for 1 sec. iv. Move forward at 3/4 speed for 1 sec. v. Move forward at full speed for 15 sec. vi. Move forward at 3/4 speed for 1 sec vii. Move forward at 1/2 speed for 1 sec. vili. ix. Move forward at 1/4 speed for 1 sec. Stop. Write an Easy C program to accomplish this task. Submit the C code only Repeat Question 1 if the transition between each step is triggered by pressing a single push-buttor instead of set durations. Redo Question 1. But this time use functions, constants and loops effectively. Also, add comments to your code Write an Easy C program for your BaseBot to travel along the following trajectory. Assume that each segment is 2ft long. State all your assumptions. Use functions, constants and loops in your program. Also, add comments to your code. 2. 3. 4.

Answer 1

Answer for part 1:

#include <stdio.h>
#include <time.h> /*used to manipulate date and time*/

void move_forward(float spd, double secs); /*funcion for bot to move forward at 'spd' speed for 'secs' seconds*/

int main()
{
printf("Start\n"); /*Start from standstill*/
move_forward(0.25, 1.0);
move_forward(0.5, 1.0);
move_forward(0.75, 1.0);
move_forward(1, 15.0);
move_forward(0.75, 1.0);
move_forward(0.5, 1.0);
move_forward(0.25, 1.0);
printf("\nStop"); /*Start from standstill*/
return 0;
}

void move_forward(float speed, double secs){
  
clock_t begin;
double time_spent;
  
begin = clock(); /*Start time*/
while(1) /*infinite loop*/
{
printf("Moving forward at %f the speed", speed); /*put here function to move bot forward*/
time_spent = (double)(clock() - begin) / CLOCKS_PER_SEC; /* Get CPU time since loop started */
if (time_spent >= secs)
break;
}
  
  
}

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