Agenda:
- Finish mounting sensors
- Debug color sensor
- Work on program
I mounted the rig that had been built at the previous meeting to have two touch sensors on the front of our robot. I also mounted the touch sensor multiplexor. We realized that we werent getting good readings from the color sensor, so we tried to bring it closer to the ground. It works more reliably after lowering it about a quarter of an inch. I modified the code a little to test the light sensor more easily and to have it constantly display the color it sees; the gray tiles show up as 0, the white tape should show up as 1 or 11-13, the red tape is around 9, and the blue tape should be more like 3 or 4. This way we can find distinct values for all the possible starting locations and use it to find the lines on the feild.
If the robot sees a color immediatly then it knows its on the platform, and which alliance it is on. If it doesn't then it knows it is in one of the squares on the feild, and when it goes forward it will find out what alliance it is on by reading the colored tape box. This is important because it means that we can write one program that will do the appropriate thing in all four starting cases, because the feild is diagnaly symetric.
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