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> The primary feature of the class was to constantly compare the decibel measurements of the two sound sensors with a
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> set decibel threshold. If the noise level on one of sound sensors was above the given threshold, and larger than
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> that of the opposite sound sensor, the robot would turn in the direction of the loudest noise. This was simply done
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> with three part if, else if & else loop [see fig. 11]. This of course meant that the robot only could drive to the
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> with a nested if-else loop [see fig. 12]. This of course meant that the robot only could drive to the
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> right, left and straight ahead. If no sound was detected above the sound threshold, the robot would simply drive
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> straight ahead at a reasonable pace.
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>
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> Car.forward(70, 71);
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> }
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> }
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>```
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> ```
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> ##### Fig. 12: The inner loop of the NoiseFinder program.
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>
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> #### Results
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>
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> After running the NoiseFinder program we found that it was difficult to drive towards a sound if the source was
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> placed too far away from the robot. We think this is due to the background noise being the same level as the source
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> sound being played. When we place the source sound closer to the robot it was able to detect the direction much
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> better and change direction accordingly. This is clearly visible in (see fig. 13). In our NoiseFinder program there
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> is a variable called soundThreshold. This variable is used to determine the lowest sound noise the robot should
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> detect. By tweaking this variable we were able to tune out much of the background noise while still being able to
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> detect the source sound being played. The soundThreshold used in the video is set to 30.
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>
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> ![G2](http://gitlab.au.dk/uploads/group-22/lego/b618e3191d/G2.png)
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> ##### Fig. 13: The Party Finder robot in action.
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>
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> ---
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> ## Conclusion
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