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done with ex 5 authored by Samuel Bjørn Jessen's avatar Samuel Bjørn Jessen
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lesson-4.md
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...@@ -254,52 +254,6 @@ By integrating from an amount of previous samples, the application can classify ...@@ -254,52 +254,6 @@ By integrating from an amount of previous samples, the application can classify
As we didn't have any solution of how to set the values in our application for proportional (Kp), integral (Ki), differential (Kd) and base motor power (Tp), we experimented with the values until we had a solution where the robot both drove with a somewhat fast speed and where the movement was fluid on straight lines as well as during turns. See \[8\] for a video of the behaviour. As we didn't have any solution of how to set the values in our application for proportional (Kp), integral (Ki), differential (Kd) and base motor power (Tp), we experimented with the values until we had a solution where the robot both drove with a somewhat fast speed and where the movement was fluid on straight lines as well as during turns. See \[8\] for a video of the behaviour.
### Color Sensor ### ### Color Sensor ###
Readings from display (putter det i en tabel senere)
On white:
Red: 668, 227
Green: 619, 233
Blue: 587, 288
Light: 625, 227
Color: White
On black:
Red: 246, 60
Green: 227, 64
Blue: 176, 63
Light: 210, 73
Color: Green
On blue:
Red: 291, 97
Green: 401, 120
Blue: 454, 204
Light: 282, 155
Color: Blue
On green:
Red: 360, 130
Green: 494, 222
Blue: 286, 108
Light: 329, 164
Color: Green
On red:
Red: 658, 257
Green: 310, 102
Blue: 246, 60
Light: 482, 144
Color: Red
On yellow:
Red: 670, 266
Green: 550, 234
Blue: 325, 105
Light: 512, 208
Color: Yellow
#### Description #### #### Description ####
In the LEGO Mindstorms series there is also a color sensor. Use the test program *ColorSensorSensor.java* to investigate the information that the class ColorSensor provide in Full mode. Place the color sensor over black, white and green to figure out if the information provided can be used to distinguish the three colors. In the LEGO Mindstorms series there is also a color sensor. Use the test program *ColorSensorSensor.java* to investigate the information that the class ColorSensor provide in Full mode. Place the color sensor over black, white and green to figure out if the information provided can be used to distinguish the three colors.
...@@ -307,6 +261,7 @@ Is it possible to use the color sensor for both following the black line and sto ...@@ -307,6 +261,7 @@ Is it possible to use the color sensor for both following the black line and sto
#### Execution #### #### Execution ####
**Actual Color** | **Detected Color** | **Red (Raw)** | **Red (Cal)** | **Green (Raw)** | **Green (Cal)** | **Blue (Raw)** | **Blue (Cal)** | **Light (Raw)** | **Light (Cal)** **Actual Color** | **Detected Color** | **Red (Raw)** | **Red (Cal)** | **Green (Raw)** | **Green (Cal)** | **Blue (Raw)** | **Blue (Cal)** | **Light (Raw)** | **Light (Cal)**
---------- | --------- | ----------| --------- | ----------| --------- | ----------| --------- | ----------| --------- ---------- | --------- | ----------| --------- | ----------| --------- | ----------| --------- | ----------| ---------
White | White | 668 | 227 | 619 | 233 | 587| 288 | 625 | 277 White | White | 668 | 227 | 619 | 233 | 587| 288 | 625 | 277
...@@ -315,6 +270,8 @@ Blue | Blue | 291 | 97 | 401 | 120 | 454 | 204 | 282 | 155 ...@@ -315,6 +270,8 @@ Blue | Blue | 291 | 97 | 401 | 120 | 454 | 204 | 282 | 155
Green | Green | 360 | 130 | 494 | 222 | 286 | 108 | 329 | 164 Green | Green | 360 | 130 | 494 | 222 | 286 | 108 | 329 | 164
Red | Red | 658 | 257 | 310 | 102 | 246 | 60 | 482 | 144 Red | Red | 658 | 257 | 310 | 102 | 246 | 60 | 482 | 144
Yellow | Yellow | 670 | 266 | 550 | 234 | 325 | 105 | 512 | 208 Yellow | Yellow | 670 | 266 | 550 | 234 | 325 | 105 | 512 | 208
*Table 5 : Readings from the display while testing ColorSensorSensor.java on 6 different colors*
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