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THS
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Robots /
WebsterLab5WallFollowingWebster Wall Following Lab 5 ReportPicturesWrite UpMy Lab Five, although titled "Wall Following," is actually Wall/Board/Cliff Following. I used the built in cliff sensors as well as wiring in external distance sensors,
these were linearized using equations that can be seen in the code attached below (see comment: making sensors make sense). Blinking lights were used as a user guiding interface to allow others to able to operate the code. Once the program was triggered by the play button the robot would drive along the wall using ranges of the linearized values to keep the robot from wandering away from the wall or colliding with the wall. If the robot sensed a cliff it would turn away until it lost the cliff where upon it would gradually drive back to the cliff. This made the robot appear to "bounce" along the edge of the cliff. If while driving along a wall/board and the robot lost the wall/board I had the robot make a wide turn in order to be able to navigate the end of a board properly. Debugging was an integral part of code development this time. I added little by little to the code so that if a problem arose it could be identified and dealt with easily. I also began to troubleshoot minor errors after a few preliminary tests on the course. If I were to make changes for future version of the code I would include a third distance sensor which would allow the robot to tell if it could fit though a space, or if it was too narrow and needed to go around. Overall I believe that this is a successful wall-following program. CodeFlow Chart |
