marvin:lab5
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marvin:lab5 [2008/10/04 10:35] – deva | marvin:lab5 [2008/10/10 11:54] (current) – deva | ||
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**Participants: | **Participants: | ||
- | The purpose of this exercise is to make a line following robot to compete | + | The purpose of this exercise is to make a line following robot to compete |
====Design==== | ====Design==== | ||
- | {{: | + | {{: |
We wanted to produce a stable car that would be able to react fast to changes in the course.\\ | 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.\\ | The stability, we decided, could be achieved by building the car as a tripod, based on the standard Lego car.\\ | ||
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====Building the car==== | ====Building the car==== | ||
- | {{: | + | {{: |
+ | 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. | 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==== | ====Programming==== | ||
- | TODO: Insert the code here. | + | |
<code java> | <code java> | ||
public class Racer { | public class Racer { | ||
Line 162: | Line 163: | ||
</ | </ | ||
====Test1==== | ====Test1==== | ||
- | small wheels. | + | Small wheels. |
- | movie of first run. | + | |
First time trial, 31,8 sec | First time trial, 31,8 sec | ||
+ | |||
+ | Here is a video showing the test run:\\ | ||
+ | [[http:// | ||
====Test2==== | ====Test2==== | ||
- | {{: | + | {{: |
Larger wheels | Larger wheels | ||
First time trial, 25,0 sec | First time trial, 25,0 sec | ||
====Test3==== | ====Test3==== | ||
- | Reduced lengt of the sensor arm. Caused Marvin | + | Reduced lengt of the sensor arm. Caused Marvin |
====Conclusion==== | ====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. | 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. |
marvin/lab5.1223109337.txt.gz · Last modified: 2008/10/04 10:35 by deva