... | ... | @@ -58,18 +58,29 @@ We will use the LineFollowerCal.java[1], and place the car on the circuit to see |
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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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#### Conclusion
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We can conclude that the LineFollowerCal.java[1] does not work very effecient 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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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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### Exercise 3+4 - ThreeColorSensor with Calibration + Line Follower that stops in a Goal Zone
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#### Goal
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First: We will use the idea and structure of the BlackWhiteSensor.java[1]. to program a class called ThreeColorSensor.java that can detect three “colors”: black, green and white. We will hereafter use this to investigate the usefulness of the class
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Second: To use the ThreeColorSensor.java program we have just created, to make a line follower that stops in a green goal zone.
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#### Plan
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First: We will make the ThreeColorSensor class, that can detect the “colors” and implement some of the methods from the BlackWhiteSensor.java[1]
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Second: We implement the methods for the motors.
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#### Results
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#### Conclusion
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[![image alt text](http://img.youtube.com/vi/a1tTYuLr3_0/0.jpg)](http://www.youtube.com/watch?v=a1tTYuLr3_0)
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##### Video 2: Car following line and stops in green zone.
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As seen in the video the car detects both the black line, and the white and green zones - in which it stops perfectly. The car has some problems when going from the ramp and down the hill.
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#### Conclusion
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Because of the increase in the height of the sensor when going from the ramp and downhill, the robot detects another light percentage, and thereby it don’t know what to do with this value. This could maybe solved by increasing the sample interval so it won’t check as quickly or forcing the motors to run for a very small interval of time, instead of, as it is now, only run when detecting the right value. This would require some more testing, and hopefully more solutions will come next time we look at this experiment.
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### Exercise 5 - PID Line Follower
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