... | ... | @@ -33,16 +33,14 @@ 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 Video 1.
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[![Shitty SoundLover](http://img.youtube.com/vi/wv9ga8l1Ta0/0.jpg)](https://www.youtube.com/watch?v=wv9ga8l1Ta0)
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[![Shitty SoundLover](http://img.youtube.com/vi/wv9ga8l1Ta0/0.jpg)](https://www.youtube.com/watch?v=wv9ga8l1Ta0)
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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 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 simply 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 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 Figure 2 and the result of running the program with this build can be seen in Video 2.
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![re-rebuilt robot](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week8/img/polebot.PNG)
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![re-rebuilt robot](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week8/img/polebot.PNG)
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*Figure 2: The robot after second rebuild - notice that the flower is still there*
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[![Top dollar SoundLover](http://img.youtube.com/vi/EDo4dGzpGTI/0.jpg)](https://www.youtube.com/watch?v=EDo4dGzpGTI)
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