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Difference between revisions of "Line follower Zigzag py v2"
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== Introduction == | == Introduction == <!--T:1--> | ||
=== Robot === | === Robot === <!--T:2--> | ||
The idea and principle works for almost any robot thought this is tested using Asimov. | The idea and principle works for almost any robot thought this is tested using Asimov. | ||
=== Sensors === | === Sensors === <!--T:3--> | ||
The color sensor in reflected light intensity mode is used. | The color sensor in reflected light intensity mode is used. | ||
The sensor convention is | The sensor convention is | ||
| Line 16: | Line 16: | ||
#port 4 = infrared or ultrasonic | #port 4 = infrared or ultrasonic | ||
== An Illuminating Example == | == An Illuminating Example == <!--T:4--> | ||
<youtube>iB2SfWeBkvU</youtube> | <youtube>iB2SfWeBkvU</youtube> | ||
== Theory == | == Theory == <!--T:5--> | ||
The zigzag line follower actually follows the other side of the line. If the intensity obtained by the sensor is greater than some threshold value (now 50), it will turn right some amount (now 55). Otherwise, if the the intensity is lower the robot turns steering to left (negative value). | The zigzag line follower actually follows the other side of the line. If the intensity obtained by the sensor is greater than some threshold value (now 50), it will turn right some amount (now 55). Otherwise, if the the intensity is lower the robot turns steering to left (negative value). | ||
== An Example Code == | == An Example Code == <!--T:6--> | ||
<!--T:7--> | |||
<syntaxhighlight lang="python"> | <syntaxhighlight lang="python"> | ||
#!/usr/bin/env python3 | #!/usr/bin/env python3 | ||
# https://sites.google.com/site/ev3devpython/ | # https://sites.google.com/site/ev3devpython/ | ||
<!--T:8--> | |||
#Sensor port convention: | #Sensor port convention: | ||
#port 3 = color | #port 3 = color | ||
| Line 34: | Line 36: | ||
#30 is Min | #30 is Min | ||
<!--T:9--> | |||
from ev3dev2.sensor.lego import ColorSensor | from ev3dev2.sensor.lego import ColorSensor | ||
from ev3dev2.motor import MoveSteering, OUTPUT_B, OUTPUT_C | from ev3dev2.motor import MoveSteering, OUTPUT_B, OUTPUT_C | ||
from time import sleep | from time import sleep | ||
<!--T:10--> | |||
steer_pair = MoveSteering(OUTPUT_B, OUTPUT_C) | steer_pair = MoveSteering(OUTPUT_B, OUTPUT_C) | ||
steer_pair.on(steering=0, speed=10) | steer_pair.on(steering=0, speed=10) | ||
<!--T:11--> | |||
cl = ColorSensor() | cl = ColorSensor() | ||
while True: | while True: | ||
| Line 48: | Line 53: | ||
steer_pair.on(steering=-55, speed=10) | steer_pair.on(steering=-55, speed=10) | ||
<!--T:12--> | |||
steer_pair.off() | steer_pair.off() | ||
sleep(5) | sleep(5) | ||
| Line 53: | Line 59: | ||
<youtube>jU2YQIlBGFY</youtube> | <youtube>jU2YQIlBGFY</youtube> | ||
== Exercises == | == Exercises == <!--T:13--> | ||
1. It is difficult to debug the robot as it is silent. Let it say if it is in dark or light area. Use [https://python-ev3dev.readthedocs.io/en/ev3dev-stretch/sensors.html#color-sensor Sound.speak('White').wait()] command or e.g. sound.beep() command. Sound is imported using import Sound command. | 1. It is difficult to debug the robot as it is silent. Let it say if it is in dark or light area. Use [https://python-ev3dev.readthedocs.io/en/ev3dev-stretch/sensors.html#color-sensor Sound.speak('White').wait()] command or e.g. sound.beep() command. Sound is imported using import Sound command. | ||
<!--T:14--> | |||
2. Make the robot move faster. Note that you need to change the parameters according to your line to follow (and robot). Generally, it is advised to change only one value at time. Time your original time and try to make it half. | 2. Make the robot move faster. Note that you need to change the parameters according to your line to follow (and robot). Generally, it is advised to change only one value at time. Time your original time and try to make it half. | ||
<!--T:15--> | |||
3. Let the robot use the other side of the line. | 3. Let the robot use the other side of the line. | ||
<!--T:16--> | |||
4. Now the while loop is forever. Make the robot stop when the right has turned 3.4 revolutions. See [https://sites.google.com/site/ev3devpython/learn_ev3_python/using-motors ev3 Python] for help. | 4. Now the while loop is forever. Make the robot stop when the right has turned 3.4 revolutions. See [https://sites.google.com/site/ev3devpython/learn_ev3_python/using-motors ev3 Python] for help. | ||
<!--T:17--> | |||
5. Let the robot end when it encounters a silver tape (highly shiny). | 5. Let the robot end when it encounters a silver tape (highly shiny). | ||
<!--T:18--> | |||
6. The Rescue is robot game such that it needs to follow the dashed line. So, make a line with a segment missing, but make your robot to still overlap the missing segment and follow the line on the other side of the missing segment. | 6. The Rescue is robot game such that it needs to follow the dashed line. So, make a line with a segment missing, but make your robot to still overlap the missing segment and follow the line on the other side of the missing segment. | ||
<!--T:19--> | |||
[[Category: Python v2]] | [[Category: Python v2]] | ||
[[Category: Line follower]] | [[Category: Line follower]] | ||
| Line 73: | Line 85: | ||
[[Category: Asimov]] | [[Category: Asimov]] | ||
== About == | == About == <!--T:20--> | ||
<!--T:21--> | |||
This course is supported by [https://meet-and-code.org/ Meet and Code]. The course is made in collaboration with [http://www.fllsuomi.org/ Robotiikka- ja tiedekasvatus ry]. | This course is supported by [https://meet-and-code.org/ Meet and Code]. The course is made in collaboration with [http://www.fllsuomi.org/ Robotiikka- ja tiedekasvatus ry]. | ||
[[File:MeetAndcodeLogo.png|thumb]] | [[File:MeetAndcodeLogo.png|thumb]] | ||
