To start, me and toby went through the list of ideas that toby had created and decided which one would be best suited for the completion task. After choosing the best idea, the coding started.
We started slapping down things that could work to stop the 360 that happens at the very beginning.
We started with checking if there is white in the fov of the detection boxes, if the detection fov contains white, make it so that the motor =20 and motorR = -20. this didn't work as expected but worked in favour of following the line. Changing the L and R motors around so that the other was -20 worked better and it started to follow more closely.
The way it worked was "it begins and doesn't work, but then the robot fixes itself and continues down the line, it makes the second turn in the maze, continues, nearly at the end but does a turn on the last turn and goes back around failing the maze" It detects the wrong white in the line and loops back around. The solution we came up for this was to change the fov of the robot's view to be 90 which is closer to the robot. Worked Quite well, better than last time but again it failed the last turn.
We made it so that the only detection from the robot is now the two corners instead of the entire line across. failed again. added a nested for loop making it so that it now detects in boxes in the corners instead of just lines in the bottom corners. giving it more detection range. turning speed was too slow so, with the system I tried to work on core, we did vLeft/4 and vRight/4, it was 4 this time because we didn't want the turning speed to be too much. it still turns extremely fast, toby tries 15 and it gets closer to where we want it to be. making the detection boxes sightly larger might fix this. Toby makes the rowSelected from 90 to 80 and the code works!! my brain is fried atm and Toby probably/most definitely has some details I have forgotten.
This was the main chunk of it though, Nice work team, onto challenge we go!!!
lucy-musicalfish
commented
4 years ago
To start, me and toby went through the list of ideas that toby had created and decided which one would be best suited for the completion task. After choosing the best idea, the coding started.
We started slapping down things that could work to stop the 360 that happens at the very beginning. We started with checking if there is white in the fov of the detection boxes, if the detection fov contains white, make it so that the motor =20 and motorR = -20. this didn't work as expected but worked in favour of following the line. Changing the L and R motors around so that the other was -20 worked better and it started to follow more closely. The way it worked was "it begins and doesn't work, but then the robot fixes itself and continues down the line, it makes the second turn in the maze, continues, nearly at the end but does a turn on the last turn and goes back around failing the maze" It detects the wrong white in the line and loops back around. The solution we came up for this was to change the fov of the robot's view to be 90 which is closer to the robot. Worked Quite well, better than last time but again it failed the last turn. We made it so that the only detection from the robot is now the two corners instead of the entire line across. failed again. added a nested for loop making it so that it now detects in boxes in the corners instead of just lines in the bottom corners. giving it more detection range. turning speed was too slow so, with the system I tried to work on core, we did vLeft/4 and vRight/4, it was 4 this time because we didn't want the turning speed to be too much. it still turns extremely fast, toby tries 15 and it gets closer to where we want it to be. making the detection boxes sightly larger might fix this. Toby makes the rowSelected from 90 to 80 and the code works!! my brain is fried atm and Toby probably/most definitely has some details I have forgotten.
This was the main chunk of it though, Nice work team, onto challenge we go!!!