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LINE FOLLOWING
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Try This: A similar feedback system can be found in the traditional linefollowing robot. What is a line except an obstacle that has been painted on the ground Instead of bumper switches, the robot uses a light sensor to see the line. The basic line-following program, found in the Mindstorm examples, bounces the robot o the line (Fig. 13-9). Our only change is to add a Set Power block at the top, so you can adjust the robot s speed.
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There are several hidden lessons in this example. The rst one is that it is easier to start with existing code than to begin inventing everything from scratch. It is easy to get excited by technology and run o to create everything from scratch, just so it is all yours. Resist this impulse! Look around and see what other people have done, and it will save you hours, days, or even weeks of reinventing the wheel. Once you ve found a good rst approximation for your solution, you can take all of that extra time and adjust the found solution to work better. In the end, you ll have a better solution for the same amount of time invested. Another lesson is that a good solution to the problem may not be the obvious solution. Note that the robot turns left if it is on the white background and it turns left when it sees the line, too. It only turns right when it is on the edge, between bright and dark. There are three states in the sensor, as programmed by the LEGO people: Bright, Dark, and somewhere in between. Why does this program work What happens if you remove the If Dark 2 test and just turn right when it s not bright How does it behave if you have a fast robot A slow one This program doesn t follow the line e ciently, since it spends more time turning than it does moving forward. What happens if, instead of stopping the inside wheel, it sets it to move at a slower speed Moving too fast can be a problem since you can overshoot the line and its corners. In all robotic applications, there is a middle ground where the speed of the machine, the response time of the sensors, and even the momentum of the robot come together to make a working solution. It often takes a lot of experimentation to nd just the right combination. This is where the scienti c method comes into play. First, do some tests with an existing system to see how it behaves. Then develop a theory on how to make it better. Test this theory and see if it works. If it does, great! Otherwise, make a note of why it didn t work. . . and try again with a di erent theory. When you are making changes in your theories and tests, take care to change just one or maybe two things at a time, so you can tell which change a ected the result. If you try a bunch of stu all at once, you won t know what each change did.
Two sensors
If you have two light sensors, you can make your program faster and smarter. These sensors would act like two bumpers. As the left sensor crosses the black line, you can turn the robot left. For the right sensor, you would turn right.
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Light following
These sensors don t have to be pointed down to the oor. You can point them forward or upward and use them to follow the light from a ashlight.
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