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Hi Steve,
Thank you very much for your put!
> Am I correct in thinking the two front, and two back legs
> don't move, only the middle two?
>
> That's a nice, simple design.
Can't take the credit. I got the idea from the Sato book, instead of 4
legs, I thought the 6 legs are much more stable.
>
> start Loop
> if-left light sensor=dark (less than threshold) -> reverse
> left motor
> else -> forward left motor
> end if block
>
> if-right light sensor=dark -> reverse right motor
> else -> forward right motor
> end if block
> end loop (jump to start)
That's pretty much what I did initially, except I used to put in "wait" time
and stops. By simply removing all the "stop"s and reduce the wait time, it
works quite well on a simple line tracking test. Thanks for your input.
I multitask the light sensor readings because there may be times like the
following:
- right light sensor<= threshold ->
| < making slight right turn >|
(during this movement)
| < some slipping condition happens! >|
| < left light sensor across the the black line >|
| < but did not get to read it yet >|
- now both front legs(sensors) of the bot go over to the white area...
- picture this: [] = the black line; b = back legs; f=front legs; L=
light sensors
[]
[] f L
b [] L f
b []
- it keeps walking straight forward instead of making a left turn back on
track.
- in other words, I am trying to program it for more fault tolerant.
>
> As it turns out, the minor problem is harder to resolve. The
> bouncing is common with walking robots. One way to minimize
> the problem is to start with the light sensor mounted higher.
> Then, the difference between the two readings will be less.
> (but will still exist)
>
> Moving the sensor like this can cause other problems. The
> sensor will be more subject to ambiant light changes (like
> the robot casting a shadow around the line).
I was going to build the light sensors on a pivot wheel construction which
rests on the platform, very much like what Scott Davis mentioned. I
wondered if there was anyone trying that before.
--
Thanks,
E
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