The assigned task to us was to calibrate the robot such that the
robot moves straight forward at constant
speed. If the robot is calibrated correctly, it will move around
10 cm during 1 sec when you set the
wheels speed to 0.1m/s. Assume that there is an obstacle (a
wall) in the way so the robot should detect the wall when reached
to it
and then align itself with the wall. To align with the wall, the
robot should rotate (either to left or right)
until the wall is not in sight anymore and then stop.
Now for task 1 we calibrated multiple time to achieved the
desired results. We have set distance between
two black markers to be 75cm and then it takes 7.62 sec to reach
there (As shown in video). The speed
comes out to be close to around 10 cm during 1 sec i.e.,
0.1m/s.
We faced a lot of issues in setting the speed and make robot
move in straight line forward as the back
wheel (ball bearing wheel) is not reliable. There are lots of
issues of slipping and sometime it gets stuck
and in turn changes the orientation of wheel. Due to this issue
we decide to move RedBot of floor
instead of paper so that there is minimum issue of slipping of
ball bearing wheel.
The task 2 was comparatively easier after calibrating the task
1. In RedBot Darkness level was set 650
for detecting wall or in our case the marker.
The video shows the RedBot starts after tapping accelerometer
sensor. It covers a distance of 75cm in
(7.62s) video (00:01.6-00:09.1) covering the task is for the
robot to start from a point and go straight. It
moves at constant speed close to 0.1m/s. After detecting
wall(marker) it start turning and stop after the
complete rotation and moved away from marker.
The task was performed by all team members together and each of
us gave equal contribution in process
of writing the code and calibrating RedBot so the both task are
done as required.
Video is available at this link:
https://youtu.be/OJvrqdhQHNY
