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THS
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Robots /
MarkLab5Purpose:The purpose of this lab was to direct a create towards a light and to stop once it is right in front of it. In other words we were to turn the create into a brightenburg vehicle. The create also had to deal with barriers it might encounter as well as find the light initially if it isn't already facing it. Procedure:Using a single light sensor rotated on a servo I had the sensor take readings at a couple points. Those values where then compared to each other by the create and the appropriate action was then taken. If both sensor readings were below a certain value it would spiral out to search for the light. Bump sensors were used to make sure it didn't just ram into a wall. Once the create was close to the light (about 5 inches away) it would stop. If the light was moved the create was supposed to start moving again until it found the new location of the light. Results:The create was successful at finding the light in most situations. One case where it didn't work fully was when I started the create across the room and it tried to go under the table. The computer wires would trigger the bump sensors but it kept wanting to go back towards the wires because that was the direction the light was in. Improvements that could've been made would have been to set up better instructions for dealing with obstacles (ie. if the create does the same thing a certain number of times maybe it could move farther away from the obstacle). CodeFlowchart: |