Line Follow with fault tolerance

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Line Follow with fault tolerance

Postby douglas_sm » Mon Apr 27, 2009 7:11 pm

First, sorry for the bad english.


I'm doing a project for graduation.
A Line Follow robot with fault tolerance.

For that I am using two physical LightSensors inside a class named "VirtualLightSensor".
The program only communicates with the virtual sensor.
The virtual sensor is responsible for identify and address the faults.
If both sensors are operating, then returned is the average reading of two.

Look here:

http://www.youtube.com/watch?v=m99oKAnIVAs
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Postby esmetaman » Wed Apr 29, 2009 9:28 pm

Nice idea to use 2 light sensors to improve the logic.

Cheers
Juan Antonio Breña Moral
http://www.juanantonio.info/lejos-ebook/
http://www.iloveneutrinos.com/
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Postby douglas_sm » Sun Jun 07, 2009 7:48 pm

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Postby roger » Mon Jun 22, 2009 6:26 pm

Hi Douglas,
With 2 light sensors, have you considered mounting them side by side.? Then you could use the two sensor readings to calculate an estimated distance from the center of the line and use this as input to the pilot.steer() for proportional control. It might give smoother tracking.
Roger
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