... | ... | @@ -19,11 +19,10 @@ To build, program and experiment with the Braitenberg vehicles [1], as described |
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## Plan
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We plan to attempt to complete the exercises within our initially allotted 5 hours.
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In the exercises Ida will be writing the code, Nicolai will be taking notes and Camilla and Emil will be in charge of experiments.
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Ida was writing the code, Nicolai took notes, and Camilla and Emil were in charge of performing the experiments. After Ida had to leave, Camilla took over the coding.
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## Results
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After Ida and Emil had to leave, Nicolai and Camilla took over the coding role as an additional, shared role.
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## Results
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We began by rebuilding the robot, looking at the illustrations for the building instructions for *Express-Bot* [1, page 2] as well as the images provided in the lesson plan under *Building Instructions for a Base Vehicle*.
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![rebuilt robot](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week8/img/IMG_2304.JPG)
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... | ... | @@ -39,15 +38,15 @@ A range of 0 to 100 could make sense as it incorporates noise levels up to shout |
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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: ref til video].
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[TODO: Video]
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*Video 1: The robot running ***SoundLover.java***.*
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*Video 1: The robot running SoundLover.java*
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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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As can be seen in the video, the robot starts driving forward fine when measuring some noise, however it keeps driving forward with full speed despite receiving (almost) no sound. We judged this as being a result of one of two things: The sound sensor could be vibrating too violently when the robot is driving full force, which the sensor interprets as a loud sound thereby causing a constant feedback loop making the robot continue to drive forward. Alternatively, it could simplu be that the sound made by the motors is loud enough to cause the robot to keep driving. A combination of the two being the cause is also likely.
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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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To solve this issue, we rebuilt the robot to extend the sound sensor further away from the robot by placing it on a pole. This could help in both cases: If motor noise was the cause, distancing the sensor from the motors would obviously help. And if vibrations were the cause, placing the sensor on a pole might help as the vibrations on the end of the pole should be of a lower frequency than those produced directly by the robot's motors and movement. The rebuild can be seen in [TODO: ref] and the result of running the program with this build can be seen in [TODO: ref]
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[Rebuild picture]
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[TODO: Rebuild picture]
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[Rebuild video]
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[TODO: 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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