Project 3 A Graceful Turn of XGO

Ⅰ. Teaching Aims

Use XGO turn to control left and right turning and understand positive and negative directions.
Use “multiple small angles + waiting” to form any rotation angle.
Reduce your step size before turning to enhance stability.
Complete a 180° U-turn and then resume movement.

XGO + Foxbit + MicroBlocks IDE.
XGO battery power ≥ 60 %.
MicroBlocks status bar shows a green dot, and the development board model is Foxbit.
Test XGO init and XGO reset pose.
Leave at least 40 cm of space around the desktop to prevent drops.


Value range	−100 ~ 100
Functions	Set the “Yaw Angle speed per step” and keep it in effect
Common misuses	Forget to zero out→ it keeps spinning

Value range	−100 ~ 100
Functions	Forward/backward step size
Common misuses	Still take large step size when turning

Value range	≥ 0 ms
Functions	Maintain the time of the previous instruction
Common misuses	Write 100 as 1000 → an overly large angle

Direction rule: Turn left when n > 0, turn right when n < 0.

Complete script:

Click ▶Run, and you will see the dog slows down first and makes a smooth left turn of about 90°, and then it goes straight.

Online code: Click here

Requirements: Walk → Slow down → turn left 90°×2 → Resume walking → Reset.

Sample (Fine-tune the waiting time according to the actual rotational speed):

Bonus point: After the U-turn is completed, display image happy.

Online code: Click here

Questions	Possible causes	Solutions
There is no rotation or the angle is insufficient	`wait` is too short / step size has not been reduced	Extend the waiting time or reduce the step size
Keep going around in circles	Forgot `turn 0`	Reset immediately after turning
Slip when turning	Slippery ground / excessive step size	Put on an anti-slip mat; Set the step size < 30
Large deviation in U-turn	Single large-angle control	Change to multiple small-angle cumulative control