... | ... | @@ -30,7 +30,7 @@ For these exercises Ida will be taking notes, Nicolai will be programming and Em |
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## Results
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### Self balancing robot with light sensor
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We started out by rebuilding the robot with respect to the building instructions in [1]. After this rebuild the robot now only had two wheels as seen in Figure 1.
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We started out by rebuilding the robot with respect to the building instructions in [1]. After this rebuild, the robot only was left with only two wheels, as seen in Figure 1.
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![rebuilded two wheel robot](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week7/img/newlook.PNG)
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... | ... | @@ -43,9 +43,9 @@ We started by running Bagnall's program [2] without modifications, on the floor |
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*Video 1: Robot racing around and resting on its light sensor.*
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Going backward on its back is expected behavior, as the sensor in this situation measures a high raw value of reflected light and therefore assumes that the sensor is far away from the ground and tries to flip itself up by setting full speed backwards on its motors. This doesn't work as the robot doesn't have enough power.
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Going backward on its back is expected behavior, as the sensor in this situation measures a high raw value, meaning that is receives a very small amount of reflected light, and therefore assumes that the sensor is far away from the ground and tries to flip itself up by setting full speed backwards on its motors. This doesn't work as the robot doesn't have enough power.
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Going backwards on its front is however not expected behavior, as the robot should in fact try to catch its weight by driving forward as it does until the sensor hits the ground. When leaning on the floor the sensor must therefore see a high raw value which means that it doesn't see any reflected light and thinks that it is in fact leaning backwards instead of forward and thereby trying to go backwards.
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Going backwards on its front is however not expected behavior, as the robot should in fact try to catch its weight by driving forward as it does until the sensor hits the ground. When leaning on the floor the sensor must therefore be measuring a high raw value, meaning that it doesn't see any reflected light, which makes it seem to the robot as if it is leaning backwards instead of forward, causing it to try to go backwards.
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#### Testing environmental influence
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With the goal of obtaining a better understanding of the significance of the physical environment, we then tried to take Hurbain's reccomendations for environmental conditions [1] into account. According to Hurbain, the NXTway requires the following conditions to be satisfied:
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