... | ... | @@ -201,9 +201,8 @@ We decided to finish up the experiments (long) before having tried all possible |
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### Self balancing robot with color sensor
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... (INTRO!!!!!)...
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Changes in the robot's position seemed to be reflected less strongly in the readings of the color sensor than those of the light sensor - that is, the same angle seemed to induce less of a change in the color sensor's readings. We therefore speculated that we needed to multiply the error by a larger value in order to adequately correct the robot's position, which means that a larger value of *p* might result in the robot balancing better as the change in reading would then have a larger effect.
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We replaced the light sensor with a color sensor and did some trial runs with the robot to see how well it performed on the basic settings (p = 28, i = 4, d = 33). These initial runs led to the following interesting observation:
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Changes in the robot's position seemed to be reflected less strongly in the readings of the color sensor than those of the light sensor - that is, the same angle seemed to induce less of a change in the color sensor's readings. We therefore speculated that we needed to multiply the error by a larger value in order to adequately correct the robot's position, which means that a larger value of *p* might result in the robot balancing better as the change in reading would then have a larger effect. We tested this by trying out different values of ***p***, using the same *p*-values as when testing the light sensor. We weren't able to observe any improvement for certain and did not press on with this approach. Instead, we decided to compare the two types of sensor more closely.
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#### Comparison with light sensor
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