... | ... | @@ -137,8 +137,52 @@ We are going to do this by using the the raw-value from the sensor, for better p |
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#### Results
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#### Conclusion
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[![image alt text](http://img.youtube.com/vi/A6RI8WMmXpY/0.jpg)](https://www.youtube.com/watch?v=A6RI8WMmXpY&feature=youtu.be)
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##### Video3: Party Robot in action.
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```
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public class TinesPartyRobot {
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private static SoundSensor micRight = new SoundSensor(SensorPort.S1);
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private static SoundSensor micLeft = new SoundSensor(SensorPort.S2);
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private static int leftMic;
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private static int rightMic;
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private static int yarn;
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public static void main(String[] args) throws Exception {
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while(!Button.ESCAPE.isDown()) {
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rightMic = micRight.readValue();
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leftMic = micLeft.readValue();
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yarn = leftMic - rightMic;
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//drive forward
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if (Math.abs(yarn) <= 4) {
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Car.forward(75, 75);
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}
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//turn left
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if (yarn > 6) {
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Car.forward(0, 75);
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}
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//turn right
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if (yarn < -6) {
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Car.forward(75, 0);
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}
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Thread.sleep(30);
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}
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Car.stop();
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LCD.clear();
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LCD.drawString("Program stopped", 0, 0);
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Thread.sleep(2000);
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}
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}
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```
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##### CodeSnip2: This shows a snippet of our implemented Party Robot code.
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#### Conclusion
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The code we have implemented uses three steps; one for driving forward, one for driving left and for driving right. We subtract the two sound levels from the microphones, to see which one of the microphones that registres a higher sound level than the other. We store this new value in a variable and uses it to determine in which direction the robot should drive. If the variable is higher than 7 the robots turns right, if it lower than -7 the robot turns left, and if the value is positive and lower or equal to 7 the robot drives forward. The last step is implemented so that it drives forward when the two microphones registres almost the same level.
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### Overall Conclusion
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... | ... | |