... | ... | @@ -84,15 +84,15 @@ At this point we started wondering whether the wires to the engines were creatin |
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#### Testing condition 2: Surface
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As we saw no discernible difference with the lights turned on or off, we left it on for the remainder of the experiments as it was vastly easier to work with.
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Because we know from past experiences that the measured reflected light for the light sensor is affected by the color of the surface, we suspected that the inconsistency in the color of the grey bathroom floor (as seen in figure 3) could possibly affect the reliability of our balancing robot.
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Because we know from past experiences that the measured reflected light for the light sensor is affected by the color of the surface, we suspected that the inconsistency in the color of the grey bathroom floor (as seen in Figure 3) could be affecting the reliability of our balancing robot.
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To remedy this, we tried experimenting on a black surface that we brought into the bathroom, which can be seen in figure 3. A notable problem with this surface, however, was that it was rather rough, and as such could have slightly inconsistent reflection.
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To remedy this, we tried experimenting on a black surface that we brought into the bathroom, which can also be seen in Figure 3. A notable problem with this surface, however, was that it was rather rough with tiny spikes/bumps, and as such could have slightly inconsistent reflection, as well as making it harder for the robot to remain stable (on the other hand, it might also provide the robot's wheels with a better grip).
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![Black surface](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week7/img/IMG_224955.PNG)
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*Figure 3: Black surface in the bathroom, as well as the black and the grey surface next to each other for comparison.*
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As we now couldn't use the door as a means of a solid standpoint for the robot to lean against when calibrating, we now used a box found in the Zuse building instead, as seen in figure 4.
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Due to the black surface being round and having a white edge, we could no longer use the door for verical alignment during calibration, so we instead used a box found in the Zuse building, as seen in figure 4.
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![Using a box to angle the robot for calibration](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week7/img/IMG_225960.PNG)
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