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Line Following

Line Following. Let’s review portions of Line Following Exercise. First we used “bang-bang” control to follow a line’s edge (right side and left side). Then we got both motors going by using hysteresis (transition overlap).

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Line Following

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  1. Line Following • Let’s review portions of Line Following Exercise. • First we used “bang-bang” control to follow a line’s edge (right side and left side). • Then we got both motors going by using hysteresis (transition overlap). • Let’s introduce proportional control by using the motor() function. motor (motor # ,percent full power); We might achieve smoother transitions.

  2. Follow Left Edge of Line Definitions White = 25 Black = 125 port_motor = 1 starboard_motor = 3 Buggy

  3. Control Strategy Plot

  4. Pseudo-code sensor = analog(3); /*read the sensor*/ If (sensor < 75) { pmp = 100; /*set port motor power*/ smp = 0; } /*set starboard motor power*/ else { pmp = 0; /*set port motor power*/ smp = 100; } /*set starboard motor power*/ motor (port_motor , pmp); motor (starboard_motor, smp);

  5. Follow Right Edge of Line Definitions White = 25 Black = 125 port_motor = 1 starboard_motor = 3 Buggy

  6. Control Strategy Plot

  7. Pseudo-code sensor = analog(3); /*read the sensor*/ If (sensor < 75) { pmp = 0; /*set port motor power*/ smp = 100; } /*set starboard motor power*/ else { pmp = 100; /*set port motor power*/ smp = 0; } /*set starboard motor power*/ motor (port_motor , pmp); motor (starboard_motor, smp);

  8. Follow Left Edge of Line(Get both motors going with hysteresis) Definitions White = 25 Black = 125 port_motor = 1 starboard_motor = 3 Buggy

  9. Control Strategy Plot

  10. Pseudo-code sensor = analog(3); /*read the sensor*/ If (sensor < 50) { pmp = 100; /*set port motor power*/ smp = 0; } /*set starboard motor power*/ else if (sensor > 100) { pmp = 0; /*set port motor power*/ smp = 100; } /*set starboard motor power*/ else { pmp = 100; smp = 100; } motor (port_motor , pmp); motor (starboard_motor, smp);

  11. Follow Left Edge of Line(Use proportional control for smooth transitions) Definitions White = 25 Black = 125 port_motor = 1 starboard_motor = 3 Buggy

  12. Control Strategy Plot

  13. Pseudo-code sensor = analog(3); /*read the sensor*/ pmp = 100 -1 * (sensor – 25); smp = 1 * (sensor – 25); motor (port_motor , pmp); motor (starboard_motor, smp);

  14. Follow Left Edge of Line(Get both motors going with hysteresis) (Use proportional control for smooth transitions) Definitions White = 25 Black = 125 port_motor = 1 starboard_motor = 3 Buggy

  15. Control Strategy Plot

  16. Pseudo-code sensor = analog(3); /*read the sensor*/ If (sensor < 75) { pmp = 100; /*set port motor power*/ smp = 2 * (sensor – 25); } else { pmp = 100 -2 * (sensor -75); smp = 100; } /*set starboard motor power*/ motor (port_motor , pmp); motor (starboard_motor, smp);

  17. Proportional Control(Careful algebra can avoid floats. Save the divide for last.) Definitions White = 25 Black = 100 port_motor = 1 starboard_motor = 3 Buggy

  18. Use Careful Algebra (y = mx+b) to Avoid Floats Inside parentheses executes first – save the divide for last

  19. Pseudo-code sensor = analog(3); /*read the sensor*/ pmp = (100 * (sensor – white)) / (black – white); smp = 100 - pmp; motor (port_motor , pmp); motor (starboard_motor, smp);

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