... | ... | @@ -24,9 +24,19 @@ Start by rebuild by [1] |
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Caaaaan we build it? YES WE CAN!!! (perhaps insert picture of fancy AF Frej?)
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### Vehicle 1
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We started by writing a program, **SoundLover.java** to have the robot drive forward proportional to sound received by a single sound sensor. The sound sensor appears to measure the dB value somewhere between 0 and 100. We base this on the fact that the absolute highest value seen in our most extreme experiments in our Lesson 3 exercises (where we also used the sound sensor), was a value of 92. As a result, we deem it reasonable to simply map the read sound value directly to motor power, so we pass the measured sound by *readValue()* along as a parameter to the motor power.
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We started by writing a program, **SoundLover.java** to have the robot drive forward proportional to sound received by a single sound sensor. The sound sensor appears to measure the dB value somewhere between 0 and 100. We base this on the fact that the absolute highest value seen in our most extreme experiments in our Lesson 3 exercises (where we also used the sound sensor), was a value of 92. As a result, we deem it reasonable to simply map the read sound value directly to motor power, so we pass the measured sound by *readValue()* along as a parameter to the motor power. Ideally we would run some more thorough experiments to figure out the exact range that the sound sensor can measure, but we opted not to do this. The result of running this program can be seen in (TODO: INSERT VIDEO)
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[Video goes here]
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As can be seen in the video, the robot starts driving forward fine when measuring a sound, however, it keeps driving full speed forward despite receiving no sound. We judge this being a result of the sound sensor either vibrating too violently when the robot is driving full force, resulting in the sensor interpreting it as a loud sound, and such causing a constant feedback causing it to keep driving forward. Alternatively, simply the sound made by the motor is causing it to keep driving, or possibly a combination of the two.
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To solve this issue, we rebuilt the robot to extend the sound sensor further away from the robot, in order to leverage the vibrations over a longer 'pole' (TODO: Someone word this better plz, i can't englando), and thereby prevent the sensor from receiving too strong direct vibrations from the robot when driving, and at the same time distancing the sensor from the robot, reducing how much direct noise it picks up from the motors. The rebuild can be seen in [PICTURE REBUILD], and running the program with this build can be seen in [INSERT REBUILD VIDEO]
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[Rebuild picture]
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[Rebuild video]
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We see that the build solves our problem extremely well, as the robot accurately slows down once we stop making sounds, instead of constantly driving forward as a result of its own
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### Vehicle 2
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