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--- marvin:lab6 [2008/10/07 16:00] – sohn
+++ marvin:lab6 [2008/10/31 08:56] (current) – rieper
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 **Participants:** Kasper, Bent and Johnny\\
+**Purpose**
 The purpose of this exercise is to make a line following robot to compete in the robot race.
+We have abandoned the idea of drive the wheels in opposite directions and instead make a more intelligent steering based on the thesis that it is better move forward at all times when working on a car which is intented for time trials.
 ====Test run 1====
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 ====Test run 4====
 In relation to this test we have adjusted on the motor power in forward mode. If this power is too big e.g. the car is coming out of a right turn and into a left turn, the car will spin off the track since the sensors will detect a forward mode between the turns.
 Another ajustment to the forward power was done to the first part of the race track. There are 2 tight corners in the beginning. Therefor we decided is was nessesary to adapt to this fact. We gradually increased the power delivered to each motor. This was done by a division factor applied to the motor power starting at 1.2 and decreasing to 1 (as in no division factor applied). This helped Marvin to make those tight turns in the beginning af the track.
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 ====Some thoughts on succes====
-During development of The fastest Marvin we discussed what our success criterion was... And literally how success was measured. If the goal is to make Marvin drive as fast as possible from A to B on a known track (as the one in the lab) it would be something like go forward 5 cm from start, turn 90 degrees untill black is detected then turn 90 degrees until blue is detected. It is the fastests way from A to B. But is this the sufficient to say that the track has been driven? We think not. For a rabot to have completed a track we think that the robot must be on the track, that is with the black line between the wheels, for a certain procentage of the time it takes to complete the track.
+During development of The fastest Marvin we discussed what our success criterion was... And literally how success was measured. If the goal is to make Marvin drive as fast as possible from A to B on a known track (as the one in the lab) it would be something like go forward 5 cm from start, turn 90 degrees untill black is detected then turn 90 degrees until blue is detected. It is the fastests way from A to B. But is this the sufficient to say that the track has been driven? We think not. For a rabot to have completed a track we think that the robot must be on the track, that is with the black line between the wheels, for a certain procentage of the time it takes to complete the track. So instead of having full speed all the time and hope for the best we decided, among other things, to slow down in corners to avoid big oscillations. We have also made an attempt to make Marvin universial in the sense that Marvin could race on any track with a black line on white background.
+====Conclusion - Future development====
+To make Marvin go faster we could experiment with gearing. We also believe that we could squeeze a second or two with tweaking the power applied to each motor even more.
+We believe that we have covered som of the fundamental issues regarding development of a race car line follower and have made a decent product.
+{{:marvin:lab6-3.jpg}}