PmWiki | Student / WallFollowingLab6

Nate's Wall following Lab

In this lab I used two external distance sensors, on in the front and on the right to check for walls. by using proportional control i was able to make the create stay at a roughly constant distance from the wall. The way I set up my proportional control was by setting the drive_direct command to (150-(cr8_adc_center1-200),150+(cr8_adc_center1-200)). This command set the ideal speed for each wheel to be at 150 when the distance sensor detected the wall with a value of 200. the front sensor was used to check for a wall in front of the create. If it detected a wall at a certain distance, I programmed the create to turn 60 degrees so the right distance sensor would be looking at the wall initially detected by the front sensor.

The program needed to incorporate an action for the create to take if it detected a virtual wall. The action needed to use a servo motor. My program sets the servo to rotate back and forth when the virtual wall is detected.