Line Following Experiments

We already had rudimentary 'line following' working on Dan-ED for Pi Wars 2019, however it only worked if following a 'smoothly' curving track.  As soon as it tried to turn a sharp bend like the 135 degree bends in the 'Lava Palava' challenge, Dan-ED  would wander off.

For it to work Dan-ED needed to turn more sharply. After a lot of trial and error and trying out various strategies, including slowing down Dan-ED once it entered a turn, the strategy that worked best was to 'counter rotate' the tracks so that Dan-ED would spin on the spot. This allowed the line follower sensors to to keep track of the white line. The video clip shows the modified code coping quite well with sharp turns!

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