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Lab5AmberAttach:amberlab5.jpg Δ | Picture of Light Following Write-upBraitenberg vehicles are made to follow light or runaway from the light. The goal of Lab 5 was to replicate the Braitenberg vehicle with appropriate debugging techniques. The Create was supposed to follow the light, and on a button press switch to run away from the light. One of my first steps was to survey the light conditions in the room. I used the sensor demo to do most of this. When I hooked up two sensors, I realized the dilemma in that. Different photoresistors can have ranges that differ by almost 100, so the programming would have to correct for these errors or there would have to be physical correction by covering part of one of the sensors. My Braitenberg vehicle works very well. There are several portions of my code that I think worked out great. For one, the Create switches from photophilic to photophobic mode seamlessly. Another thing that worked out very well was how I used the Cricket display. By pressing the advance button you can view the photoresistor readings for both the left and right photoresistors. You can also tell which one you are viewing by which light is on on the command module. It also follows the light well because I programmed it to directly drive to the place with the highest light value. There were several tasks that were more of a challenge in my program. I needed a search pattern to initially find the light, which I was having trouble coming up with. I ended up modifying wimp mode so that the Create would drive around the room avoiding bumps for 30 seconds before activating photophilic or photophobic mode. Another issue I found at the end was that if the Create gets too close to the light, it will not stop. I figured out that the Create had gotten into the shadow of the base so it wasn’t as bright. The Create would very seldomly drive into the shadow before driving into the direct beam of light, so I did nothing to fix this. Flow Chart for Light Following ΔFlow Chart Part 2 ΔCode Δ |
