The goal is to experiment with having input from sensors correspond to motorpower, combining input from multiple sensors and observing the behaviour of one or more of these robots.
## Plan
We will start with experimenting with having input from one light sensor correspond to motorpower. Then we add another light sensor and experiment with having multiple robots that send out light. After that we look at combining input from a light sensor and an ultrasonic sensor into corresponding motorpower.
We will start with experimenting with having input from one light sensor correspond to motorpower. Then we add another light sensor and also experiment with having multiple robots that send out light. After that we look at combining input from a light sensor and an ultrasonic sensor into corresponding motorpower.
## Results
### Making the robot's speed depend on sounds in the environment
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@@ -22,14 +22,14 @@ We will start with experimenting with having input from one light sensor corresp
#### Exitatory vs inhibitory behaviour
If we use exitatory 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 the motors and as a result the speed is lowered.
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.
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.
// video i googledrev (inhibitory.3gp)
#### 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.
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.
