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cvf06035 created page: Lesson7 authored by Ida Larsen-Ledet's avatar Ida Larsen-Ledet
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Lesson7.md
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......@@ -62,11 +62,9 @@ Observing the robot running with the Follow behavior, we became aware that the l
![pale hand and dark shirt](https://gitlab.au.dk/LEGO/lego-kode/raw/master/week9/img/handshirt.PNG)
*Figure 4: Pale hand and t-shirt made of dark fabric. The hand reflected too much light back to the sensor causing it not to register that the torch light was blocked, while the dark fabric succesfully blocked the torch light.*
... This might lead to unintuitive behavior if its driving in a very dark room and gets close to a surface, since the avoid behavior wants to drive away from the surface, but the follow behavior might want to drive towards it. TODO reflective might only measure specific light values LOOK INTO IT CAMILLA - EMIL
As the threshold between seeing light and not seeing light is based on an initial calibration of the ambient light, we sometimes had issues with the calibrated threshold being too low, causing the robot to constantly respond to light even when the smartphone torch was off - that is, it was simply responding to (changes in) the ambient light in the room.
We speculate that this might lead to unintuitive behavior. For instance, if the robot gets close to a white wall, the Follow behavior might cause it to be drawn to the wall before the Avoid behavior kicks in and drives it away from the surface. [TODO reflective might only measure specific light values LOOK INTO IT CAMILLA - EMIL]
Additionally, as the threshold between seeing light and not seeing light is based on an initial calibration of the ambient light, we sometimes had issues with the calibrated threshold being too low, causing the robot to constantly respond to light even when the smartphone torch was off - that is, it was simply responding to (changes in) the ambient light in the room. We "solved" this by performing the calibration while holding the robot up high, closer to the skylights, and pointing it towards them (*cue Circle of Life*). Thereby, when driving closer to the ground, with its light sensor being horisontal, the ambient light registered by the robot would be below the threshold. This simple solution worked fine and was fast, for which reason we did not look into it further as we wanted to move on with the actual focus of the lesson.
### Escape behavior
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