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>This method is not 100 % accurate and some colors close to green may also result in a green interpretation, but it >should still be able to distinguish the three colors apart.
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> ## Conclusion
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> Through this lab session we gained experience using a light sensor for black white detection. Readings were collected in different rooms with different light settings and results showed that we were able to distinguish black from white under various light settings.
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To extend our work with the light sensor we mounted the color sensor with a goal to distinguish between three colors (black, white and green). When implementing a line follower we encountered some problems with the three color distinction as the car robot’s navigation relies on input from the color sensor. When it detects white it moves in one direction and another when it detects green. The problem occurs when the sensor is between the black and white line. This causes the sensor to read medium values eg. green even though no green space is present.
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The three color sensing robot was later modified according to the problem. To deal with the problem of medium values we made the robot count how many green readings were made before it detects it as a goal zone. This means that the robot will only stop when it reads a certain amount of consecutive green values.
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Later we implemented a PID control structure on the car resulting in the car driving in a smooth path. Due to lack of time we did not have adequate time to explore and tweak the values of the PID. This means that the PID controlled line follower was not completed to full extend.
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> Through this lab session we gained experience using a light sensor for black white >detection. Readings were collected in different rooms with different light settings and >results showed that we were able to distinguish black from white under various light >settings.
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>
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>To extend our work with the light sensor we mounted the color sensor with a goal to >distinguish between three colors (black, white and green). When implementing a line follower >we encountered some problems with the three color distinction as the car robot’s navigation >relies on input from the color sensor. When it detects white it moves in one direction and >another when it detects green. The problem occurs when the sensor is between the black and >white line. This causes the sensor to read medium values eg. green even though no green space >is present.
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>
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>The three color sensing robot was later modified according to the problem. To deal with the >problem of medium values we made the robot count how many green readings were made before it >detects it as a goal zone. This means that the robot will only stop when it reads a certain >amount of consecutive green values.
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>
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>Later we implemented a PID control structure on the car resulting in the car driving in a >smooth path. Due to lack of time we did not have adequate time to explore and tweak the >values of the PID. This means that the PID controlled line follower was not completed to full >extend.
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>
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> ## References
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>
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