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What sensors are you using to know if you are going straight or not? How big/heavy is your robot?For small slow robots, this is how I would do it:Left_wheel_speed = tweak_constant * (current heading - location of straight line) + another_constantRight_wheel_speed = - tweak_constant * (current heading - location of straight line) + another_constantThis is a simple PD controller that will work after a few experiments trying different constants.
Okay I understand PID needs some sort of input to determine how it's doing. What kind of input are we talking about here? Voltage to a motor? Motor position? My controller has BACK-EMF if it helps.
what kinds of sensors are good for determining whether im going straight or not?
I have a robot that needs to travel an entire board full of obstacles without making any mistakes so its kind of hard.
You can build a rotation sensor using a light sensor or a touch sensor and use PID...
a touch sensor would only work in 1 direction, that wont work when the motor spins backwards, itll try to rip the switch back.
forget going straight, what are the best methods for making sure the robot does what it's supposed to consistently as far as getting to places, grabbing things and dropping them in places? especially against opponents..
It looks like to get the most points you need to get the umbrellas on the houses and the blue balls in the composts first, then get the yellow balls and green balls.
The best way to do it is to split the work between 2 robots, built a little different. One robot to handle the small yellow and green balls and one robot to handle the umbrellas and big blue balls.
To know wich sensor is best for what purpose I need to know how many sensors and what type you have. I understand you have light sensors, what type, LDR or Lego style? Can they detect colors? What type of camera is that nooby camera? How many cameras do you have? What is that reflectance sensor?
The servos are modified for continuous rotation or not? If not, can they be modified? This is important, because you can use servo pulses to determine the distance traveled.
Here is what I would do:1. The Big robot with a large gripper to be able to handle the big balls. The arm has to be able to rise the balls over the compost. The gripper can be something like a double scoop, imagine grabbing wather from a pond in your hands put close together... With this design you can get the balls and the umbrellas. You need some method of distance traveled measurement, so you can get one umbrella and go to a house to shade it and return to base to get a second umbrella, etc. For this you need to measure distance and turns. To get the blue balls is easier, you know their location, just get streight to the edge, get a ball, turn and head for the closest compost bin, return, get the second ball (or get them both in the first try) and head back to the second bin. Maybe get the umbrellas after the blue balls.
Don't worry about the lava verry much, but if you do, take it out with the Small robot.
Looks like the balls were sponge type, you could have used velcro to grab them