@@ -230,7 +230,9 @@ Ved måling ved start-hvile-position: skriv at vi bruger teoretisk setpoint (i.e
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@@ -230,7 +230,9 @@ Ved måling ved start-hvile-position: skriv at vi bruger teoretisk setpoint (i.e
The two graphs have about the same shape, with two peaks separated by a valley. The first ~800 ms is the calibration of the setpoint. Then we see the reading values rise as the robot is tilted to its starting position, causing the sensor to get closer and closer to the surface below. After the second peak, we see the reading decrease as the robot is tilted backwards. We are not sure as to the reason for the occurence of the valleys - a guess could be that the robot is lifted slightly from the table again because Camilla, who tilting the robot, was wary of letting the sensor hit the surface too hard. The different depths of the valleys could be due to the change in lighting level, as described previously.
The two graphs have about the same shape, with two peaks separated by a valley. The first ~800 ms is the calibration of the setpoint. Then we see the reading values rise as the robot is tilted to its starting position, causing the sensor to get closer and closer to the surface below. After the second peak, we see the reading decrease as the robot is tilted backwards. We are not sure as to the reason for the occurence of the valleys - a guess could be that the robot is lifted slightly from the table again because Camilla, who tilting the robot, was wary of letting the sensor hit the surface too hard. The different depths of the valleys could be due to the change in lighting level, as described previously.
We see that the color sensor actually has a larger maximum deviation (***max. dev.***) from the setpoint than the light sensor. The color sensor has a larger average deviation (***avg. dev.***) as well. This goes against our immediate visual observations. On the other hand, the slope of the graph for the color sensor is less steep than that of the light sensor, which might explain our observations. The different slopes, however, could also be due to different speeds of the movement when tilting the robot - it should be noted, though, that this could also have affected our results in a way that diminishes the actual difference which could then be larger than it appears, which might support our observations.
We see that the color sensor actually has a larger maximum deviation (***max. dev.***) from the setpoint than the light sensor. The color sensor has a larger average deviation (***avg. dev.***) as well. This goes against our immediate visual observations. However, as pointed out above, the two valleys have very different depths - the depth of the color sensor valley is much larger than that of the light sensor. When we simply look at the graph, we see the light sensor peak at around 120 above its setpoint while the color sensor peaks at around 20-30 above its setpoint. The lowest measurement, aside from the valley, is reached around 100 below for the color sensor and a little more than 100 below for the light sensor. These observations support our initial visual observations.
On the other hand, the slope of the graph for the color sensor is less steep than that of the light sensor, which might explain our observations. The different slopes, however, could also be due to different speeds of the movement when tilting the robot - it should be noted, though, that this could also have affected our results in a way that diminishes the actual difference which could then be larger than it appears, which might support our observations.
All in all, there were several external factors affecting our measurements and it is hard to take them properly into account.
All in all, there were several external factors affecting our measurements and it is hard to take them properly into account.
