Lab3

The robot successfully followed the line by reacting to 4 situations: (1) L white R white=drive straight, (2) L black R black = turn left, (3) L white R black = turn right and back up slightly (4) L black R white = turn left and back up slightly. The backing up prevents the robot from losing the line as it turns.

The program did have trouble with extremely tight corners but this is an inherent problem with the Create, not my code. The issue is that the sensors are located too far ahead of the wheels. This results in the robot turning and losing the line in more complicated situations. If the sensors were located directly between the wheels, the pivots would not significantly move the sensors, keeping the robot on the line.

I learned that if you’re trying to incorporate safety features (making it not a lemming) separately from the looping command, you’re making it more complicated for yourself and it is harder to get it to run successfully that way. In short, safety features make wonderful looping commands. This lab also taught me a great deal about trouble shooting and not giving up.