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The following four graphs show the data collected from using 10ms, 50ms, 100ms and 500ms sample intervals respectively. A short sample interval is expected to update the direction of the robot often, while a slow sample interval might allow the robot to drive further away from the black line before its direction is corrected. The graph, which we have created using the DataLogger, illustrate this point well. We see for a 10ms sample rate that we first of all have a lot of data samples, but also that the curve resembles a sinus curve, which oscillates with a fairly high frequency. The same points can be made for 50ms and 100ms, although they oscillate with a lower frequency as expected. The final graph, which modulates 500ms is a special case in that the robot is not able to follow the black line for such a high sample interval. As a result it runs in circles causing the graph to be somewhat chaotic, but still with a low frequency as expected.
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The following four graphs show the data collected from using 10ms, 50ms, 100ms and 500ms sample intervals respectively. A short sample interval is expected to update the direction of the robot often, while a slow sample interval might allow the robot to drive further away from the black line before its direction is corrected. The graph, which we have created using the DataLogger, illustrate this point well. We see for a 10ms sample rate that we first of all have a lot of data samples, but also that the curve resembles a sinus curve, which oscillates with a fairly high frequency. The same points can be made for 50ms and 100ms, although they oscillate with a lower frequency as expected. The final graph, which modulates 500ms is a special case in that the robot is not able to follow the black line for such a high sample interval. As a result it runs in circles causing the graph to be somewhat chaotic, but still with a low frequency as expected.
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