Choreographies

SwARM

Swaggy Artistic Robots Matrix.

Choreographies

This is a (non exhaustive) list of some of the choreographies and several actions that the robots can do.

Robot Movements

1. straight line
2. Curve by segments
3. Bézier curve ?

Lights

1. basic color (R,G,B,Y,M,C)
2. rainbow animation : change color from red to violet
3. spectrum navigation : change color : from one color to another

Moving orders

The robot has some limitations in its movements due to his material extension, so we have to give him orders as follow:

• Add maximum 40 ticks to his distance goal every 50ms
• Add maximum 21 ticks to his angle goal every 50ms

If you respect these conditions the robot should do a quite precise movement.

One tick on both wheels covers a distance of 0.725 millimeters.
One tick of difference between wheels covers an angle of 0.362 degrees.

This means that the robot cannot go quicker than 0.6m/s and still be precise in his movements. We are then not far from our original objective of 0.7m/s.

Musics

1. [Ainsi parlait Zarathoustra - Strauss] (https://www.youtube.com/watch?v=heRql5KiLyY) Intro: 34s
2. [The Robots- Kraftwerk] (https://youtu.be/D_8Pma1vHmw?t=173) ~30 - 40s: chorus
3. D.A.N.C.E - Justice ~40s
4. [Symphonie n9 - Dvorak] (https://youtu.be/ShmwB7n3H4A?t=36m) Final: 44s

We have made a mix of those songs for the choreography and you can hear it here ;) enjoy