... | ... | @@ -45,13 +45,13 @@ We started by running Bagnall's program [2] without modifications, on the floor |
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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 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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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 go backwards. An attempt at an explanation could include the angle of the sensor on the ground, which might cause some light to escape rather than being reflected back into the sensor.
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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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1. The lighting must not interfere with light sensor. Hurbain suggests trying out the robot in a dark room or a room lit only by fluorescent light.
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2. It works best on a clear but non uniform surface. According to him, certain patterns give the robot something to "zero" on.
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1. The lighting of the surroundings must not interfere with light sensor. Hurbain suggests trying out the robot in a dark room or a room lit only by fluorescent light.
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2. It works best on a clear but non-uniform surface. According to Hurbain, certain patterns give the robot something to "zero" on.
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3. The robot must be perfectly balanced when the run button is pressed, as the light level measured at that time determines the equilibrium position.
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##### Testing condition 1: A dark room without windows
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