... | ... | @@ -213,16 +213,15 @@ NB: Lyset i rummet ændrede sig mellem de to plots - men det burde ikke være re |
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NB: Vi bevæger den ikke nødvendigvis lige hurtigt hver gang, hvilket også påvirker hældningen.
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#### Comparison with light sensor
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... FORKLAR HVORFOR... via ref til ovenstående tekst
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To forskellige slags måling: Faktisk måling af setpoint (og så til start-hvile-position og tilbage at ligge ned) og så måling ved start-hvile-position)
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Ved måling ved start-hvile-position: skriv at vi bruger teoretisk setpoint (i.e. det som er hardcodet i koden når robotten kører)
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We held the robot in the equilibrium position (judging by view) and calibrated the setpoint. We then tilted it forward until the sensor (sitting on its front) prevented further movement. From there, we slowly tilted the robot backwards. The equilibrium position, the starting position, and the ending position are all showed in figure 5.
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![Tilting the robot to test the sensors](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week7/img/tilt.PNG)
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We logged the readings, as well as saving the setpoint so that it could be plotted along with the readings.
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*Figure 4: finding the setpoint value (first image), start position (second image), and end position (third image)*
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![Tilting the robot to test the sensors](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week7/img/tilt.PNG)
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We logged the readings, initially calibrating a setpoint and saving it so that it could be plotted along with the readings.
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*Figure 4: finding the setpoint value in an attempted equilibrium position (first image), start position (second image), and end position (third image)*
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![Plot of readings from color sensor and light sensor](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week7/img/435logColWithSetpoint_513logLightWithSetpoint.png)
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