PmWiki | Student / AliAndPhilsCricketMuseumThing

Our Task: The Museum Tour, make your cricket follow a white line through the museum.

Our Plan of Attack: We are using a light sensor to sense the light reflecting off the black background of the floor. To do this, it turns one second to the right and then uses the sensor to tell if it is on the black (>100) or the white (<100). If on black it repeats the turn several times and (if necessary) does the same turn twice as many times in the other direction, resulting in a sweeping motion. If on white it goes forward until the light sensor senses black again, in which case the sweeping motion repeats. (has trouble turning to the left)

Plan 2. After we had trouble making the Cricket find where the line was after it strayed off course, we made a new plan to keep our light sensor on the right side of the line, on the black. Our new plan was that we would move forward and to the left constantly and then use the light sensor the same way as before except this time it was looking for white (<100), and once it found white it would turn away for a bit and then slowly start turning inward again. This also works for getting around corners because the robot will constantly keep turning the the left (for a left turn) with out triggering the sensor to turn to the right. As for right turns, the light sensor would constantly trigger causing it to turn quickly to the right until it can start its inward movement again.