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--- marvin:lab5 [2008/10/03 12:43] – deva
+++ marvin:lab5 [2008/10/10 11:54] (current) – deva
@@ Line 1: / Line 1: @@
 ===== Lab report 5=====
 **Date:** October 3rd 2008\\
-**Duration of activity:** 8-?.??\\
+**Duration of activity:** 8-13\\
 **Participants:** Kasper, Bent and Johnny\\
-The purpose of this exercise is to make a line following robot to compete int eh robot race.
+The purpose of this exercise is to make a line following robot to compete in the robot race.
 ====Design====
-{{marvin:picture of whiteboard design}}\\
+{{:marvin:lab5-schema.jpg?256}}\\
 We wanted to produce a stable car that would be able to react fast to changes in the course.\\
 The stability, we decided, could be achieved by building the car as a tripod, based on the standard Lego car.\\
@@ Line 15: / Line 15: @@
 ====Building the car====
-{{marvin:picture of the built car}}\\
+{{:marvin:lab5-arm1.jpg?256}}{{:marvin:lab5-arm2.jpg?256}}\\
-{{marvin:maale armen1}}{{marvin:maale armen2}}\\
+The base of the car is the LEGO 9797 car as described in LEGO Mindstorms Education NXT Base Set 9797 building instruction page 32 to page 34
 We did not have three NXT light sensors available, so we decided to use the one that we did have for the center sensor, and then use two RCX light sensors for the ones on the sides.
 ====Programming====
-TODO: Insert the code here.
 <code java>
 public class Racer {
@@ Line 163: / Line 163: @@
 </code>
 ====Test1====
-small wheels.
+Small wheels.
-movie of first run.
 First time trial, 31,8 sec
+Here is a video showing the test run:\\
+[[http://www.youtube.com/v/lNlLngkMeTs|{{ marvin:lab6-1.jpg }}]]
 ====Test2====
+{{:marvin:lab5-bigwheels.jpg?256}}\\
 Larger wheels
 First time trial, 25,0 sec
 ====Test3====
-Reduced lengt of the sensor arm. Caused Marvin to turn to late and crash into the wall. Therefore we maintain original length of the sensor arm.
+Reduced lengt of the sensor arm. Caused Marvin too turn to late and crash into the wall. Therefore we maintain original length of the sensor arm.
 ====Conclusion====
+We need to do some measurements on the motors in order to examine how to make different types of turns. Next time we will try to do countersteering by making one motor go forward and the other one backward. Also try to implement a memory of the last samples, so we will be able to take advantage of a more graduated steering control.