... | ... | @@ -65,9 +65,9 @@ To conduct experiments with two light sensors mounted in front of the robot and |
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#### Plan
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We will test three different positions of the light sensors and test how it affects the behaviour of the robot. Furthermore we will implement and test both exibatory and inhibitory behavior. The tests will be conducted under the same circumstances in a darkened room. As a light source we use the camera flash of a smartphone.
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For the first experiment we mounted the two sensors at the front of the robot at an angle of ~45 degrees and a space of 12 cm. For the second experiment we used an angle of 0 degrees, and for the third we placed the sensors at ~10 degrees, where the sensors pointed in the direction of the robot. (see picture)
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For the first experiment we mounted the two sensors at the front of the robot at an angle of ~45 degrees and a space of 12 cm. For the second experiment we used an angle of 0 degrees, where the sensors pointed in the direction of the robot and for the third we placed the sensors at ~10 degrees. (see Fig. 4)
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![opstillinger](http://gitlab.au.dk/uploads/group-22/lego/985a2cafa8/opstillinger.jpg)
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![opstilling2](http://gitlab.au.dk/uploads/group-22/lego/3831a07e03/opstilling2.jpg)
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##### Fig. 4 -
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To conduct our experiments we configured a LightVehicle.java class which mapped the light readings from each of the two sensors to the motors (see snippet).
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... | ... | @@ -85,6 +85,10 @@ int lightValLeft = (int) (100-(lightLeft.readValue()*scale)); |
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int lightValRight = (int) (100-(lightRight.readValue()*scale));
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```
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#### Results
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First experiment with 45 degree angle:
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The two sensors were mounted at an angle of ~45 degrees and a space of 12 cm. Both sensors were “lying down” on the side (billede). The results showed that the robot was able to move towards the light. However it also resulted in a large blind spot. The large blind spot resulted in the robot sometimes not being able to see the light source despite the source being right in front of it.
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## References
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#### Literature
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