@@ -20,12 +20,12 @@ We will start with experimenting with having input from one light sensor corresp
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@@ -20,12 +20,12 @@ We will start with experimenting with having input from one light sensor corresp
#### Excitatory vs inhibitory behaviour
#### Excitatory vs inhibitory behaviour
If we use excitatory connections as in the more sound we measure the more motor power, the robot will drive forward at high speed without ever slowing down because of the constant noise from its own motor.
If we use excitatory connections as in the more sound we measure the more motor power, the robot will drive forward at high speed without ever slowing down because of the constant noise from its own motor.
Using inhibitory behaviour as in the more sound the less motor power, makes the robot stop whenever a loud sound ocours, and its max speed is very low because the faster it moves the louder the noise from its motors becomes and as a result the speed is lowered.[4]
Using inhibitory behaviour as in the more sound the less motor power, makes the robot stop whenever a loud sound ocours, and its max speed is very low because the faster it moves the louder the noise from its motors becomes and as a result the speed is lowered.[3]
It kind of felt as if it was a creature that tried to avoid decection by being as quite as possible and especially quite whenever it thought it heard someone.
It kind of felt as if it was a creature that tried to avoid decection by being as quite as possible and especially quite whenever it thought it heard someone.
#### Mapping to motor power from -100 to 100
#### Mapping to motor power from -100 to 100
The robot had an interesting behaviour, when a loud sound occurred it would drive with high speed forward until it hit a wall, this resulted in lowering the noise from the motor and the robot now started backing away from the wall until another loud sound occur. Though every once in a while it would just continue driving into the wall.[5]
The robot had an interesting behaviour, when a loud sound occurred it would drive with high speed forward until it hit a wall, this resulted in lowering the noise from the motor and the robot now started backing away from the wall until another loud sound occur. Though every once in a while it would just continue driving into the wall.[4]
// fil i googledrev: T_part1.java, also add code, comment
// fil i googledrev: T_part1.java, also add code, comment
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@@ -43,7 +43,7 @@ If we switch what the sensor's input correspond to we observe the opposite behav
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@@ -43,7 +43,7 @@ If we switch what the sensor's input correspond to we observe the opposite behav
#### Normalizing
#### Normalizing
We also experiemented with remembering the maximum light and minimum light the robot had observed over its life time and then only mapping to motor power within this interval. Doing this we could change how the robot behaved depending on how much light we exposed it to. At one point we had an interesting result where we could make the robot follow a person standing in from of it.[6]
We also experiemented with remembering the maximum light and minimum light the robot had observed over its life time and then only mapping to motor power within this interval. Doing this we could change how the robot behaved depending on how much light we exposed it to. At one point we had an interesting result where we could make the robot follow a person standing in from of it.[5]
### Ultrasonic sensors
### Ultrasonic sensors
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@@ -54,27 +54,24 @@ We also experiemented with remembering the maximum light and minimum light the r
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@@ -54,27 +54,24 @@ We also experiemented with remembering the maximum light and minimum light the r
