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REC Unit 9 Advanced C Programming Flashcards | StudBud
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REC Unit 9 Advanced C Programming
REC Unit 9 Advanced C Programming
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Answers
1
A properly configured P system is best described as:
Well Ordered
Critically Damped
kp Corrected
Extra Responsive
2
Sensor Failure -> Shut down a function receiving bad data
False
True
3
Once triggered, a ballistic behavior always continues executing until it is finished.
False
True
4
15 % 3 equals:
5
3
1
0
5
To store the number 5 into the marked location in the array, the syntax would be:
5 = Storage[1][2]
Storage[1][2] = 5
Storage[0][1] = 5
Storage[2][3] = 5
6
Which of the following is most likely to have ‘behavioral’ programming?
An industrial robot that fastens bumpers to cars on assembly line.
A robot that plays soccer
A garage door opener.
A remote controlled car.
7
Saturation can be a problem because ___________________.
output values can exceed the range accepted by Vex Motors
Vex Motors can't keep up with demand of changing Error values
the Vex controller cannot store an unlimited number of Error values
output values will quickly exceed the character limitations
8
Some uses for random numbers in programming might include all of the following except:
Defining array structures
Improving AI pathfinding
Eliminating predictable behavior
Arbitrating behavioral elements
9
19 % 4 equals:
2
1
0
3
10
Which of the following situations yields a ‘truly’ random result?
Generating a random number from Pi.
Choosing a number at random from a list.
Measuring the decay of a radioactive element.
Measuring the daily number of shares traded at the NY stock exchange.
11
In a system with a kp value which is far too low, which result would be most likely:
The system will destabilize.
The system will be unresponsive.
The Error will stop changing.
The Error will overflow.
12
Graceful Degradation -> Switch sub-systems
True
False
13
Of the following, which will yield a random number with the fewest requirements?
Polling a timer whenever a bump switch is hit.
Polling a timer 7 ms after a bump switch is hit.
Polling timer when bump switch is hit, if program has a loop time of 7 ms.
Polling a timer every 7 seconds.
14
The main concern of integral windup is:
iError becoming too large and overwhelming P and D.
All the above.
iError remaining too small to affect the program.
iError instigating a cascading failure in the program.
15
When might you use an easyC Timer?
To transfer variables between unconnected user functions.
When a programmed event should occur at exactly midnight each night.
To schedule events that should occur within less than 1 ms of each other.
When a wait statement would prevent a loop from properly executing.
16
The Error calculation in a proportional controller is ___________________.
calculated a single time when program is first initialized
the difference between current value and target value
a complex algorithm
different depending on which sensor is utilized
17
ki is almost always greater than 1.
True
False
18
If one behavior is dependent on the outcome of the another behavior, the first behavior has a higher priority
False
True
19
A servo behavior is reactive, and is always scanning the environment, and reacting to changes.
False
True
20
The yellow regions on the graph represent:
The saturation region
The deadband
The proportional band
The plateau
21
Integral Control -> Compensates for past accumulated Error
True
False
22
Which is the correct order of the following wild rabbit behaviors in order of priority:
Run from predators, Eat , Sleep , Reproduce
Run from predators, Reproduce, Eat , Sleep
Eat , Sleep, Run from predators, Reproduce
Eat, Sleep, Reproduce, Run from predators
23
Running Average -> Average sensor readings
False
True
24
The three elements of a behavior based program are:
Moving, Acting and Reacting
Prioritizing, Orientating and Acting
Sensing, Arbitration and Actuation
Seeing, Feeling, Touching
25
What is the derivative at the identified point in the graph?
0
2
-1
1
26
Select the true statement from the following:
Number of variables responsibly for derivative behavior varies depending
Three variables are responsible for derivative behavior; kd, kp and E.
One variable is responsible for derivative behavior; kd.
Two variables responsible for derivative behavior; kd and time interval.
27
Proportional Control is only effective in one direction of a robot’s motion, typically forward.
True
False
28
The accumulated Error shown by the shaded yellow region in this picture is:
Positive, because the shaded region is last positive.
Negative, because the shaded positive region is not complete.
Positive, because all the shaded regions are treated as positive Error.
Negative, because the negative region is larger than the positive region.
29
The array shown contains:
Two rows and three columns
Three, one dimensional rows
Three rows and two columns
Two, one dimensional columns
30
Integral Control -> Compensates for past accumulated Error
True
False
31
Proportional Control -> Responds to current events
False
True
32
It is good practice to make each behavior its own "if" statement.
True
False
33
When pre-loading an array, which of the following is true:
Each individual row must be pre-loaded.
Each cell can be individually pre-loaded.
None of the statements a, b or c are true.
The entire array must be pre-loaded.
34
A behavior based program with simple behaviors is limited to simple interactions with its environment.
True
False
35
Which of the following has the greatest impact on derivative control:
The rate of change of Error.
The proportional response.
The speed of the robot.
The magnitude of the Error.
36
Derivative Control -> Predicts future needs
True
False
37
ki is almost always greater than 1.
False
True
