If you are learning to follow lines for the first time, I suggest that you just watch the first two parts to my series and get comfortable with that style of line following. If you already have experience, or if you totally grasp the basic line following, watch the next two parts.
In the second video, I show an example of the two-state/basic line follower. I want to note that the power level I selected is NOT optimum. There are other power levels that will perform better. The same is true for the program in the fourth video--other values for the constant (Kp) will work better. Thus, experiment! :-)
The third and fourth videos use a proportional control loop to follow the line. This basically means that the robot turns towards the line's edge faster if it's further from it.
Video 1:
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