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# Lab Notebook 8 # **Lab Notebook 8**
**Date:** 28th of April 2016 ## **Date:** 28th of April 2016
**Group number:** Group 14 ## **Group number:** Group 14
**Group members participating:** ## **Group members participating:** Camilla M. V. Frederiksen, Ida Larsen-Ledet, Nicolai Nibe and Emil Platz
Camilla M. V. Frederiksen, Ida Larsen-Ledet, Nicolai Nibe and Emil Platz
**Activity duration:** TODO hours ## **Activity duration:** TODO hours
## Goal ## **Goal**
... [lesson plan 9](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson8.dir/Lesson.html).
## ... [lesson plan 9](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson8.dir/Lesson.html).
## **Plan**
* begin by brainstorming ideas, using the track and provided videos and inspiration, in order to come up with a plan
* perform experiments based on brainstorming
## Plan
We will attempt to complete the exercises within 6 hours (based on the fact that we have not managed to complete the previous lessons in less time than that). We will attempt to complete the exercises within 6 hours (based on the fact that we have not managed to complete the previous lessons in less time than that).
Camilla will write the code, Emil will take notes, and Ida and Nicolai will be in charge of performing and visually documenting the experiments. Camilla will write the code, Emil will take notes, and Ida and Nicolai will be in charge of performing and visually documenting the experiments.
## Results ## **Brainstorming**
### Rebuilding the robot
We began by discussing how to make a trigger for sensing whether or not the robot is located in the green start field. A suggestion was to interpret green after having seen white as "goal". One implication of this is knowing whether or not the robot has successfully completed its run on the track - it could have just briefly left the start field and returned again without going up the track, in which case it should not stop (obviously, returning to the start field after entering the track implies going the wrong way on the track which is an undesirable behavior). An additional point that was brought up was the fact that we do not want the robot to stop until it is entirely back in the green field. If the sensor is placed on the front of the robot, we will want it to continue forward for a bit after registering green.
Next, we discussed how to follow the track and turn on the platforms. We discussed how to handle the Y-shaped track lines on the platform - assuming that we use a line-following behavior, how will the robot know which line to continue along? It was suggested that we simply keep to the right side of the line (if possible). However, when reaching the second platform, the robot would need to keep to the left side. Aside from that, it the assumption that the robot will never accidentally drive past the line seems unrealistic.
The discussion regarding the Y-shaped lines led to a suggestion that rather than having the robot turn on the platform, the shape might be utilized to have the robot go down the "leg" of the Y and then drive backwards up to the next platform, in the hopes of saving time. The idea is illustrated in Figure 1. There was debate as to whether or not it was doable (or practical) to do this. We might try it out when we get further into the project.
[INDSÆT FIGURE 1]
*Figure 1: TODO*
We also discussed using a gyro sensor to register whether or not the robot was on a platform. We decided to investigate whether the gyro sensor would be useful for this - and potentially if other uses for it would become apparent
[1: triggers, 2: sensors, 3: turning - inklusive tegninger]
## Resulting plan
[skriv om at eksperimentere med sensors og triggers]
Later on, it might be interesting to experiment with different ways of turning on the platforms.
We ended up with the following concrete, initial plan:
1. Run the LineFollower program from week TODO on the track to see how it performs
2. Experiment with modifications of LineFollower
3. Experiment with the gyro sensor
## **Results**
### **Rebuilding the robot**
### **TODO SUBHEADING**
![TEMPLATE](LINK) ## *Video 1: TODO*
*Figure 1: TODO
### TODO SUBHEADING #### **TODO SUBSUBHEADING**
[![TODO](LINK)](LINK) ## **Conclusion**
*Video 1: TODO*
## **References**
#### TODO SUBSUBHEADING ## [1] Rodney Brooks, [A robust layered control system for a mobile robot](http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1087032), IEEE Journal of Robotics and Automation, RA-2(1):14-23, 1986
## [2] Jones, Flynn, and Seiger, ["Mobile Robots, Inspiration to Implementation"](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson7.dir/11128_Mobile_Robots_Inspiration_to_Implementation-Flynn_and_Jones.pdf), Second Edition, 1999.
## Conclusion ## [3] Fred G. Martin, Robotic Explorations: A Hands-on Introduction to Engineering, Prentice Hall, 2001.
## References
[1] Rodney Brooks, [A robust layered control system for a mobile robot](http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1087032), IEEE Journal of Robotics and Automation, RA-2(1):14-23, 1986
[2] Jones, Flynn, and Seiger, ["Mobile Robots, Inspiration to Implementation"](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson7.dir/11128_Mobile_Robots_Inspiration_to_Implementation-Flynn_and_Jones.pdf), Second Edition, 1999.
[3] Fred G. Martin, Robotic Explorations: A Hands-on Introduction to Engineering, Prentice Hall, 2001.