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Table of Contents
Lab report 6
Date: October 7th 2008
Duration of activity: 8-13
Participants: Kasper, Bent and Johnny
The purpose of this exercise is to make a line following robot to compete in the robot race.
Test run 1
We decided to continue from the basis program from Lab5. To improve the car's turning ability we now decrease the motor power when turning. We found that the turning ability was highly affected when we changed from small diameter tires to large diameter tires. Of course the top speed was improved, but it seemed that the steering suffered from the high speed. In order to improve this we need to reduce the motor power while turning. After some trials we found that 90% power while turning improved the car's ability to stay on track. We now await what happens when the battery power is reduced.
Test run 2
Here another attempt is made to find the optimal lengt of the sensor arm as it seems that the sharpness of the turns and the following oscillations between left and right could be reduced by reducing the lenght of the sensor arm. Some tests seemed to make oscillations even worth and the ability to track sharp corners on the track was reduced. This led us to reconsider the software once again to implement a memory of the last sensor inputs in order to use this memory to turn with different angles. This idea was proposed in Lab5, but was not implemented
Test run 3
We have implemented a simpel counter, which is incremented each time the program decides to make a turn in a similar direction. This allows us to increase the turning angle as the counter is incremented.