@@ -82,16 +82,16 @@ When able to control the calibration (Setpoint) variable, we made the robot 'fal
The robot seemed to fall faster than it corrected - i.e. we need more motorpower as it falls.
We tried to change the i-value - which was 4 initialy
5: better
6: better
7: - maybe better
8: poorer
Setpoint:
We tried a form of grid search on the value of the setpoint: Noting that the value measured by the robot initially was around 580, we started with a value of 500 to see the effect. We then tried a value of 750 (simply to try something somewhat in the middle between 500 and the highest possible value of 1000-something). Seeing how poorly both of these affected the robot's performance, we then tried a value of 600 which made the robot perform a lot better. We then started narrowing in between 600 and 550, ending at a value of 577.
5: better
6: better
7: - maybe better
8: poorer
Setpoint:
We tried a form of grid search on the value of the setpoint: Noting that the value measured by the robot initially was around 580, we started with a value of 500 to see the effect. We then tried a value of 750 (simply to try something somewhat in the middle between 500 and the highest possible value of 1000-something). Seeing how poorly both of these affected the robot's performance, we then tried a value of 600 which made the robot perform a lot better. We then started narrowing in between 600 and 550, ending at a value of 577.
NB: The robot was casting shade, depending on the direction that the light was coming from, which affected the light readings.
NB: The robot was casting shade, depending on the direction that the light was coming from, which affected the light readings.
