... | ... | @@ -23,9 +23,8 @@ The first goal is to observe and describe the behavior of the robot running the |
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### Plan
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Our plan is to build the “expressbot with extensions” as described in [2], see picture 1. We will then change the program so that the robot drives backward when “leftDistance”, “frontDistance”, and “rightDistance” are less than “stopThreshold”. Lastly, the robot should turn about 90 degrees when the values from both frontdistance, leftdistance and rightdistance is below 30.
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![IMG_1653](http://gitlab.au.dk/uploads/u4099/legolabtimadala/9c4325e349/IMG_1653.JPG)
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Picture 1: The robot called expressbot with extensions.
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![IMG_1653 (1)](http://gitlab.au.dk/uploads/u4099/legolabtimadala/d84a31659f/IMG_1653__1_.JPG)
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##### Picture 1: The robot called expressbot with extensions.
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### Results
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... | ... | @@ -246,3 +245,5 @@ class Follow extends Thread |
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### Conclusion
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When we ran the code and observed the behaviour of the Legocar, we saw that the lightsource had to be within a distance of 5-10 cm from the lightsensor to get a noticeable turn toward the light source. Having in mind that the two values measured, right and left, where very different since one side contained almost no light and the other extreme light, we hoped to see a greater reaction no matter if the light source where close to, or further away from the light sensor. Yet, this did not happen.
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Although, we observed that the Follow class was prioritized above the Cruise function which is in line with figure 9.9. This is seen more clear when observing the robot running, namely due to the lack of forward movement when the movable light sensor is taking light measurements.
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