Following the Advance Sensor Calibration course section, we found the min and max values detected by each sensor. Now it is time for the real deal of the calibration. Detect the current value from the sensor and find what is the percentage of this value for the range between min and max.
Implement the program for array initialization.
Follow the video tutorials for initializing arrays and implement the program.
As an exercise try to implement the calibration of the minimum and maximum values for a single sensor.
Following the previous tutorials from the course, implement the calibration of the minimum and maximum values.
Implement a program for stopping at a black line with the blocks containing the implementation details for the InitArray, Calibration and Getting the calibrated result.
Following the Advance Light/Color sensors calibration for a minimum value for a single sensor tutorial, in this one, we continue with finding the maximum value detected by a sensor and storing this value in an array.
The first part of making the robot move straight is to keep it oriented straight. While it moves it could make an error and turn slightly to the right and then the program should turn in back to the left to make its orientation straight. In this video tutorial, we would discuss how to implement a program to keep the robot orientation straight even when we are pushing or pulling it to either side and in the same time it has different wheels.
This is where the confusion really comes. We are keeping the robot orientation straight while the robot moves, but at the end the, robot is not at the fiinal location that we would like it to be. The robot is still about 2-3 centimeters away after moving for about a meter.
The integral part "remembers" the errors that the robot has made in the past and we can compensate for those errors. This will make the robot return back to the line that we would like to keep it aligned.
In this video tutorial, we would do a few experiments with the coefficients for the Integral compensation. There are actually two coefficients - "c" and "b"
Let's record the values of the Gyro Sensor while the robot is moving and is trying to keep its orientation straight. This is an interesting experiment and we will have to use file access to write the values to a file.
We should multiply the error by a certain number and then add it to the steering of the LEGO Mindstorms Steering block. In this way, by changing the coefficient we change how much/fast should the proportional part influence the steering of the robot.
Football with robots could be quite fun. Football with LEGO Mindstorms robots is one of the popular categories for competitions with LEGO Mindstorms Robots.
Pivot turns require fractions of rotations, a number between 1 and 2. Sometimes it is more convenient to use degrees.
In the software, you can change the "move block" to use degrees.