... | ... | @@ -57,7 +57,7 @@ We will use the LineFollowerCal.java[1], and place the car on the circuit to see |
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[![image alt text](http://img.youtube.com/vi/lHlDTTMl_9s/0.jpg)](http://www.youtube.com/watch?v=lHlDTTMl_9s)
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##### Video 1: LineFollowerCal.java[1] test.
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As shown in the video, we can see that the LineFollowerCal.java[1] program has difficulties staying on the target (the black line), even though we can see the car is recognizing the black line it won't get back on track when in the middle of a turn and thereby keeps turning with small lacks when registering a black line.
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As shown in the video, we can see that the LineFollowerCal.java[1] program has difficulties staying on the target (the black line), even though we can see the car is recognising the black line it won't get back on track when in the middle of a turn and thereby keeps turning with small lacks when registering a black line.
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#### Conclusion
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We can conclude that the LineFollowerCal.java[1] does not work very efficient efter loosing track of the black line. this can be due to the relationship between the numbers of sensor samples and the speed of the car which results in the robot just driving around instead of following the black line. it seems like the car does not turn enough before registering the other white side of the line and therefore is starting another turn.
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... | ... | @@ -113,4 +113,5 @@ Lastly, we will check if it Is possible to use the color sensor for both followi |
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### References
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1. Sourcecode for the programs in this lesson can be found in [Lesson4programs.zip.](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson4.dir/Lesson4programs.zip)
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2. [A PID Controller For Lego Mindstorms Robots.](http://www.inpharmix.com/jps/PID_Controller_For_Lego_Mindstorms_Robots.html) |
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2. [A PID Controller For Lego Mindstorms Robots.](http://www.inpharmix.com/jps/PID_Controller_For_Lego_Mindstorms_Robots.html)
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3. [Video 1: LineFollowerCal.java[1] test.](http://www.youtube.com/watch?v=lHlDTTMl_9s) |
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