Subject:
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Re: line follower?
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Newsgroups:
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lugnet.org.us.laflrc
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Date:
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Wed, 12 Oct 2005 17:11:08 GMT
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Viewed:
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964 times
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In lugnet.org.us.laflrc, Steve Hassenplug wrote:
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Bryan: made any progress on that line follower?
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Gee - funny you should ask :)
Since none of my ideas were going to look real original any more after playing
around at your house last weekend, I resolved to make the rack & pinion approach
work better.
So, I redesigned the drive train and eliminated the differential. I went to 1:3
gearing from a motor directly to each rear wheel so that I could obtain the
desired robot velocity if I could ever get the line following to work well
enough.
Then I redesigned the front end...so now I have the light sensors mounted on an
arm that swings side to side (instead of just moving back & forth). The arm
pivots on a point centered at the front of the car and is linked 1:1 with the
front wheels (the turn angle of the wheels is the same angle the arm is turned
to). By playing with the arm length, I impact how fast it goes off/on the line
(the sine of the angle x the length of the arm is the distance off center the
arm is at).
With this done, the car was following the line at about 30-35 cm/sec. This
represented the soft limit of the 2 sensor & simple SW approach. I am sure I
could get more...but not that much more...
So, I bit the bullet and went to a 3 sensor approach. I have an initial cut at
the SW done and first results look like about 50 cm/sec...I need to start
refining the SW & arm length to achieve faster speeds. Right now I have the
speed set at 75% on, 25% braking...so there is still plenty of room for
improvement.
It looks promising...What I need to do is put together a course instead of using
the test oval...I was given a couple of old FLL mats that I could use for a
course...just haven’t done it yet.
B
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Message has 1 Reply:
 | | Re: line follower?
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| (...) If it's any help, my first line-following event (NEIRG, with up to 135° sharp turns) I resolved to start from scratch and "be original". By event day, I ended up with Ben Hur's little brother quite unintentionally. But it worked. (...) Yes, (...) (19 years ago, 12-Oct-05, to lugnet.org.us.laflrc, FTX)
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