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THS
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Robots /
Thinh's Lab 5 BraitenbergBraitenberg Light Following
The task of imitating the Braitenberg Vehicle was definitely a challenge that required ingenuity. The process of actually creating a robot that followed the light was simple once one figured out that the right sensor had to dictate the speed the left wheel and the left sensor had to dictate the speed of the right wheel. The most important aspect was for the wheels to keep updating speeds with proportions calculated from the value of the sensors. The light following was much better this way, instead of cementing the speeds at (150, 50) or (50, 150). However, finding the light when it was not in line of sight was quite difficult as well as positioning the sensors correctly when running the program. The use of LEDs was quite efficient, allowing the robot to visibly shift between a hunter mode and a following mode. An adjusted wimp mode was used as a large area search pattern. Once a safe mode and button toggles were added, the light following program was successful, able to find a rotating orange light from an opposite corner of the room. Click here for the Flow Chart pt 1 Click here for the Flow Chart pt 2 Click here for the code (main.c) file!
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