... | ... | @@ -100,7 +100,7 @@ Experiment and find parameters, so the robot will oscillate wildly around a dist |
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**Plan:**
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Run the Control Tracker program on the PC and change parameters to make the NXT oscillate wildly. We tested different settings and found that a minPower of 100 and Gain of 1 made the desired result. This can be seen in the video link.
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[![image alt text]Video: https://drive.google.com/open?id=0B4Vn_sxU595gV19PZXQ3VGdGLVU&authuser=0
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[![image alt text]Video: (https://drive.google.com/open?id=0B4Vn_sxU595gV19PZXQ3VGdGLVU&authuser=0)
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minPower: 100 Gain: 1
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In this setting we achieved the goal of making the robot oscillate in an effort to reach the desired distance to the wall. With minPower set to 100 the robot continuously managed to drive past the desired point. Once the destination point was exceeded the robot drove in reverse to get back to its desired destination. Another reason why the robot drives past its intended destination is the sample rate which is set to 100ms. This means that the robot is constantly influenced by a small delay as the sensor interprets the environment. In order to compensate this behaviour the gain value can be manipulated causing the robot to slow down gradually as it approaches the desiredDistance. |