Wall Follow
Brittany Forkus]
[Red Cohort
Summary
The purpose of this lab was to make the create follow a wall. Following a wall includes the tasks of following it around corners, on angles, ensuringf it doesn't fall down stairs, hit anything in front of it, and whatever other obstacles Mr. Rhine may set up.
My Robot
In the first few days of this lab, I had my robot working well with only the one sensor on the side, and thought I was really close to finishing the lab. However, when I added my second sensor to the front of the robot to detect objects in front of the create, the task got a little bit more complicated. I had a lot of trouble getting my robot to take turns around small objects, the turns were to wide. So I had to constantly play with different values, until I finally found some that worked.
Another problem I ran into, was when my front sensor kept detecting that their was an object in front of it. I spent a couple hours trying everything I could think of, when I finally decided to ask Greg. This is when I realized that the sensor wasn't propped up high enough and it was detecting the raised knob at the top of the create!! In order to solve many problems like these, I used many forms of debugging, including LEDs and beeps.
Lessons Learned
* I learned how distance sensors work.
- I learned how the switch bump sensor works (notably how it is a "digital" sensor and not an "analog" one.
- I learned that the placement of the two sensors is rather important
- I learned that you can use infinite amounts of "else if" statements
- Robots are mean.
Flow Chart <3
Click here for secret Code Δ
Pictures
Safe Mode Activated!
My robot actually following the wall!
Friends Forever<3!
