Czechbot - Revision history

Robot: /* Project Files */

2009-08-14T08:39:04Z

‎Project Files

2009-08-14T08:37:53Z

‎Project Files

2009-08-14T08:12:43Z

‎Abstract

2009-08-14T08:10:20Z

‎Abstract

2009-08-14T08:09:21Z

‎Project Files

2009-08-14T06:27:39Z

‎Project Files

2009-08-14T06:14:08Z

‎Abstract

2009-08-14T06:09:13Z

‎Project Files

2009-08-13T23:16:54Z

‎Project Files

2009-08-13T23:16:35Z

‎Abstract

@@ Line 172: / Line 172: @@
 </source>
-(illustrational photo)
+(illustration picture)
 [[Image:Czechbot.jpg]]

@@ Line 63: / Line 63: @@
+}
 public boolean isMiddleDark() {
 	return middle.readValue() < 50;
+}
@@ Line 72: / Line 72: @@
 	if (isLeftDark()) {
 		if (isRightDark()) {
-			navi.travel(6);
+			navi.travel(4);
 			if (isMiddleDark()) {
 				Sound.twoBeeps();
-				navi.rotate(90);
+				navi.travel(2);
+			}
+		}
 		// leve T nebo leva zatacka
 		else {
-			navi.travel(6);
+			navi.travel(4);
 				if (isMiddleDark()) {
 					Sound.twoBeeps();
-					navi.rotate(90);
+					navi.travel(2);
+				}
+		}
+	}
@@ Line 92: / Line 100: @@
 	else if (isRightDark()) {
 		if (isLeftDark()) {
-			navi.travel(6);
+			navi.travel(4);
 			if (isMiddleDark()) {
 				Sound.twoBeeps();
-				navi.rotate(90);
+				navi.travel(2);
+			}
+		}
@@ Line 101: / Line 110: @@
 		else {
 				navi.rotate(-5);
-				navi.travel(6);
+				navi.travel(4);
 				if (isMiddleDark()) {
 					Sound.beep();
+				}
-				else navi.rotate(-80);
+				else {
+			}
+	}
@@ Line 112: / Line 125: @@
 public void followLine() {
 	int dig = 0;
-	Motor.C.setSpeed(300);
+	Motor.C.setSpeed(270);
-	Motor.A.setSpeed(300);
+	Motor.A.setSpeed(270);
 	if (middle.readValue() > 45) {
 		Motor.A.stop();
@@ Line 122: / Line 135: @@
 			Motor.C.rotate(-dig);
 			navi.setSpeed(360);
-			navi.travel(6);
+			navi.travel(8);
-			navi.rotate(180);
+			navi.rotate(185);
+		}
@@ Line 156: / Line 169: @@
+}
 </source>

@@ Line 26: / Line 26: @@
 '''Results:'''
-Our robot can follow the black line, it can recognize blind tracks and turn himself back to line. The only problem is with marking the intersections. Because robot hasn´t a ideal movement, there are still some inaccuracies. Theoreticaly we have some thoughts how to clean up, but we didn´t have enough of time to implement it right.
+Our robot can follow the black line, he can recognize blind tracks and turn himself back to line. The only problem is with marking the intersections. Because robot hasn´t a ideal movement, there are still some inaccuracies. Theoreticaly we have some thoughts how to clean up, but we didn´t have enough of time to implement it right.
 == Project Files ==

@@ Line 14: / Line 14: @@
 '''General Idea:'''
-Make a robot which can find a goal in a non-cycled maze (only with blind tracks) of black lines by going left on every intersection.
+Make a robot which can find a goal in a non-cycled maze (only with dead end tracks) of black lines by going left on every intersection.
 ----

← Older revision		Revision as of 08:09, 14 August 2009
Line 161:		Line 161:
	[[Image:Czechbot.jpg]]		[[Image:Czechbot.jpg]]

−	~~Some thoughts about intersection recognition (the problem was the upper line):~~
−
−	~~<source lang="java">~~
−	~~public boolean isMiddleDark() {~~
−	~~int i;~~
−	~~navi.rotate(-15);~~
−	~~for (i=0;i<31;i+=5) {~~
−	~~navi.rotate(i);~~
−	~~if (middle.readValue() < 50) {~~
−	~~navi.rotate(-i+15);~~
−	~~return true;~~
−	}
−	}
−	~~navi.rotate(-i+15);~~
−	~~return false;~~
−	}
−	~~</source>~~

@@ Line 165: / Line 165: @@
 <source lang="java">
 public boolean isMiddleDark() {
          navi.rotate(-15);
-         for (int i=0;i<31;i+=5) {
+         for (i=0;i<31;i+=5) {
               navi.rotate(i);
               if (middle.readValue() < 50) {
@@ Line 173: / Line 174: @@
+              }
+         }
-         navi.rotate(-15);
+         navi.rotate(-i+15);
 	return false;
+}

← Older revision		Revision as of 23:16, 13 August 2009
Line 160:		Line 160:

	[[Image:Czechbot.jpg]]		[[Image:Czechbot.jpg]]
		+
		+	Some thoughts about intersection recognition (the problem was the upper line):
		+
		+	<source lang="java">
		+	public boolean isMiddleDark() {
		+	navi.rotate(-15);
		+	for (int i=0;i<31;i+=5) {
		+	navi.rotate(i);
		+	if (middle.readValue() < 50) {
		+	navi.rotate(-i+15);
		+	return true;
		+	}
		+	}
		+	navi.rotate(-15);
		+	return false;
		+	}
		+	</source>