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MatthewFrykenbergsLab3LineFollowingMatthew Frykenberg's: Report Results: In this lab I was able to produce a fully functioning program that made the robot follow the black tape line without making any mistakes. Lessons Learned: I learned that in order for the robot to follow this line smoothly, the robot had to rotate instead of have a velocity with just one wheel, because even if only one wheel has a velocity, there is some linear displacement, and the robot's sharpness of angle is limited. I learned that it is easier to right programs step by step so as to see mistakes made more easily. I learned linear (flow chart) logic, and how to give step by step commands to achieve specific functions. Finally, I learned some of the ways in which specific commands work, such as how the update moves data from the "green box" to the create. Problems: My problems include faulty programming and not sharp enough turns. I solved the programming errors by breaking it down into steps, and solving each individual piece. I solved the turn by making the robot rotate in place as oppose to having a velocity in one wheel. Possible Additions: I would add two cliff sensors slightly wider apart than the front two at the horizontal axis centered on the robot. This means that the front sensors could see the line before the middle ones did and could react to any unusual circumstance, and the middle sensors, being the sensors used for reacting to the tape, would make smoother turns because of a slightly wider positioning. Matthew Frykenberg's: Flow Chart Attach:MattLineFollowFlowChart.jpg Δ |
