... | ... | @@ -66,8 +66,15 @@ The robot was rebuilt to include two light sensors instead of the sound sensor, |
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[Insert picture 2 light sensors]
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A program was created, **LightLover.java** which behaves similarly to **SoundLover.java**. The difference being we now have two sensors, where we map one sensors light readings to one motors power, and the other sensors readings to the second motors power. We created Braitenberg's Vehicle 2a by simply mapping the left light sensors value to the left motor, and the right light sensors value to the right motor. As we have programmed for an exitatory behavior, this means that high light levels on the left sensor will mean a high power on the left motor, and as a result cause the robot to drive *away* from light sources.
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A program was created, **LightLover.java** which behaves similarly to **SoundLover.java**. The difference being we now have two sensors, where we map one sensors light readings to one motors power, and the other sensors readings to the second motors power. We created Braitenberg's Vehicle 2a by simply mapping the left light sensors value to the left motor, and the right light sensors value to the right motor. As we have programmed for an exitatory behavior, this means that high light levels on the left sensor will mean a high power on the left motor, and as a result cause the robot to drive *away* from light sources. The result is that the robot mostly stands still, as the ambient light values in the room does not map to a high enough motor power to get the motors to actually move (usually around 57). When given a high light source however, for example from the torch on our phone, the robot accurately drives away from it, as seen in video [LIGHT HATER VIDEO]. If we wanted the robot to properly drive around and search for light, we could simply do a small calibration by adding some extra base power to each motor, to get the robot to actually drive around in ambient lighting
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[Light hater vidz]
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Next we wanted to make the Vehicle 2b. We did this by simply switching the two wires to the sensors, as this flips which motor they cause to drive, and as such causes the robot to drive towards light, instead of away from it, as seen in [Light luvver vid].
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[LIGHT LOOOVE]
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We did not create similar programs that cause the robot to have inhibitory connections, but they would be reasonably trivial. By simply inverting the values used as parameters for the motor powers, the robot would now have inhibitory connections, which would cause the robot to instead stand still in high lighting environment, and drive towards dark (low light) sources.
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### Vehicle 3
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