... | ... | @@ -28,7 +28,7 @@ We will first mount the black and white sensor in the LEGO 9797 car. Afterwards |
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#### Results
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| "color" | Light Value |
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| "Color" | Light Value |
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| -------- | ----------- |
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| Black | 39+-1 |
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| White | 58+-1 |
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... | ... | @@ -45,13 +45,20 @@ The BlackWhiteSensor.java[1] class has a built-in black and white calibrator. Me |
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### Exercise 2 - Line Follower with Calibration
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#### Goal
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As an application of the BlackWhiteSensor we will try to use the program LineFollowerCal.java[1] to see how it works when detecting black and white. The program uses the simple class Car.java[1] to move the car.
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#### Plan
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We will use the LineFollowerCal.java[1], and place the car on the circuit to see how well it performs when following a black line.
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#### Results
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#### Conclusion
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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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#### 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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### Exercise 3+4 - ThreeColorSensor with Calibration + Line Follower that stops in a Goal Zone
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... | ... | |