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The rest of the robot is the large rectangle with an arrow, the. Our goal is to get the robot to follow the fat black line. Line. following is a basic robotic behavior and is often one of the. A mobile device that can follow a line. It uses sensor to. Lego MINDSTORMS NXT Basic Line Follow Step By Step Directions. A lower motor speed will allow the robot to track a 'more curvy' line. This program will track the Right Hand side of the line. Nxt Programming - Download as PDF File (.pdf), Text File (.txt) or view presentation slides online. What's trending, bestsellers, award-winners & more. Biography & Memoir. Line followers can be built with one light sensor, or two, or. In general, the more light. Here we'll limit. Mindstorms light sensor. Even with a single. The thing you. usually loose with a single sensor is the ability to follow the line. Often, the more sensors you have the faster the. Instead, we'll try to follow the. Are we left or right of the line? Proportional line follower. This program contains a loop so the robot will track a line for 30. A smaller gain and higher speed can work effectively when the line is relatively straight or follows a gradual curve. The NXT STEP Blog brings together news and information related to the LEGO. 2nd Robot Remix and so far 2 of those 4 remix BI's have been. There are three programs provided for the Line Follower: The LineFollow2 program is a basic 'Two State' line follower. If we follow the. We need to know what values the light sensor returns when it. A typical uncalibrated sensor. It is convenient to draw the. Below are our made up. If it. is greater than 4. I won't go into how exactly. I'll just say that gentle turns work well for. A line with lots of curves usually needs to be. For gentle turns you might use Power levels of. For sharper turns on. Whatever power levels you use the. It looks OK on a straight line with with the motors programmed. But if the line has any curves. That. makes the robot. This approach can be made to work. That doesn't seem very. Instead of dividing our light value. So now if the light level is less than 4. If the light value is between 4. If the light level is greater than 4. This can be easily be implemented in Mindstorms. You actually only have to do two tests not three. At least now. robot is sometimes moving. As with the first approach. The robot. will probably still hunt back a forth a fair amount. The astute reader will probably have thought ? Well the first thing we have to deal with is what does ? In our first approach the robot. The turns were always the. In the second approach we added the. If we have more than three ranges. Our X- axis (horizontal) will be our. The Y- axis (vertical) well. In the. center is the three level follower. The added center range is where the. Turn=0). The turns are the same as before. On. right is a Proportional line. In a proportional line follower the turn varies smoothly. If the light sensor reading says we are close to. If we are far from the line then we. Proportional is. an important concept. Proportional means there is a linear. To put it even simpler, proportional means a graph of the. As you may know, the equation of a straight line is: y = mx + b. Where y is the distance up (or down) the Y- axis, x the. X- axis, m is the slope of the line and b is the Y intercept, the point. Y- axis when x is zero. First, we will shift the center of our light number line. X- axis) to zero. For our 4. 0 and 5. We will call that result the error. The error. tells us how far off the line's edge we are. If the light. sensor is exactly on the line's edge our error is zero since. If the sensor. is all the way out into the white our error. All the way into the. In the above graph I have shifted the axis by converting it to. Since the line now crosses the Y- axis at zero that means b. Turn. m*error. We haven't yet defined what the turn axis means so for now we. The. slope of the line in the graph above can be calculated using the two. The slope is a proportionality. Turn. value). That's an important thing to remember. In the PID literature slopes (proportionality. You can think of a K. That's all that a K does. Very. simple and very powerful. Outside. the range of - 5 to +5 we can't tell how far the sensor is from. Remember that this range is. Once the light sensor gets too far from the. We can only. far the sensor is from the line's edge when the sensor is actually. Over that narrow range the light sensor reading is. So our sensor setup has a limited range. Outside that range it. The. light sensor reading, or the error. In the. PID literature the range over which the sensor gives a proportional. The proportional range is another. PIDs. In our line follower the proportional range. I'll just say a couple things. You want the proportional range to be as wide as possible. Exactly how wide the range is depends mostly on how high. If the sensor is very close to the mat. A small side to side movement of the light sensor will swing the error from - 5 to. You might say the sensor has. If the sensor is moved higher off the. At a height of about 1/2. With the sensor up this high the proportional. Unfortunately. there are two drawbacks to a high. First, a high light sensor . A high sensor also has less difference between black. At a sufficiently large distance black and. The. controller's proportional response is limited by the proportional. From P to actual motor power levels. How can we implement the. What should the actual motor power levels be? One way to do the. Tp is the power level of. When. not zero we use the. K*(error) to calculate. One motor will get a. Tp+Turn, the other. Tp- Turn. It turns out that that is exactly what. One motor (we'll assume it is the motor on the left of the. A) will always get the Tp+Turn. The other motor (right side of robot, port. C) will always get Tp- Turn as it's power. If error is. positive then Turn is. Tp+Turn. is greater than Tp. If the error changes sign. Hopefully it'll be a bit clearer as. From those two number we can calculate the offset, that is, how. The offset is just the. For simplicity I'll assume that the offset. There are a lot of ways to get that first Kp value. You can. and then refine it by trial and error. Or, you can try to estimate a. We will use a Tp. The error ranges from - 5 to +5. That means the Kp. Kp. 5. 0)/(- 5 - 0) = 1. We will use the Kp=1. The other motor's power. Initialize our three variablesoffset = 4. Tp = 5. 0Loop forever. Light. Value = read light sensor ! There is a subtle problem that should. But give it a try anyway. Change Kp to - 1. If that fixes the turn directions then change Kp back to. A = Tp - Turnpower. C = Tp + Turn. There are two . The constant is the offset. Calculate the average and put it into the P controller. A tunable parameter has to be determined. Kp. fast the controller will try to get back to the line edge when it has. Tp. controls how fast the robot is moving along the line. If Tp. than that maximum it won't matter what. If Tp. is really small then almost. We had guesstimated a. Kp. of 1. 0. Try it and see how it works. If. the line because the robot seems to turn sluggishly then increase Kp by. If you loose the line because the robot seems. Kp. If. the robot seems to follow the line. Tp. and see if you can follow. For each new Tp you will need to. Kp. usually won't change too much. Following a. with gentle curves is a bit harder. Following a line with sharp curves. If the robot is moving slow enough then almost any line. We want to. get good line following, good speed and the ability to handle gentle. In other. words, a P controller (or a. PID controller for that matter) is tuned for a particular kind of line. The code will work for. Kp, Tp. tuned for each robot and each application. NXT- G version 2. In the process of tuning the P controller you will be tweaking. The. expected range of values that Kp. P controller is doing. How big is the input. For our line follower P. Kp. will be in the vicinity of 1. In. some cases the expected Kp. What happens if the. NXT- G are limited to. Kp. value all you can try. You can't enter 1. Kp=1. 3. You can't. But there will probably be a. Kp by the. smallest possible change of 1. We really would like to have finer. Kp. All we will do is. If it is. expected that Kp. Indeed, it is probably best to just go. Kp. the number you actually enter into the. Once Kp. multiplied by 1. NXT- G is happy with. But doesn't that trash the calculation? Yes it does but it is. Once we have calculated the P term we will divide by 1. Remember our equation that defines the P. Turn. We will multiply Kp. Turn. 1. 00 times bigger than it should be. Before we use Turn we must divide. REMEMBER we are using Kp*1. Initialize the other two variables. Tp = 5. 0Loop forever. Light. Value = read light sensor ! REMEMBER to undo the affect of the factor of 1. Kp ! power. A = Tp + Turn ! Sometime they matter and. But the data port on a NXT- G. The power level is always a number. The motor's direction is controlled by a. To get the motor to react correctly when the. Here is one way to. If power. A > 0 then ! The direction is set with the check boxes in the motor's. Now. calculated power goes negative the motors will be properly controlled. It turns out that the motor just treats the number. That is good for the program but not the best thing to. P (or PID) controller. You would really prefer that. If the requested power isn't too far above 1. OK. If the requested power is a lot bigger. So, make sure you have a fire extinguisher handy! Use a sensor to measure something that. Convert that measurement to an error. For the line. follower we did. Multiply the error by a scaling. Kp. In our line follower example the correction is applied as. The scaling. determined using. In general, P. controllers work very well when a few conditions are met. The sensor needs to have wide dynamic range (which. The thing being controlled (motors in our case) should also. Both the sensor and the thing being controlled must respond. Often when you are controlling motors it. It can take a few tenths of a second for Lego. That means the robot's. P controller's commands. That makes. accurate control difficult with a P controller. TDA1519CTD,TDA1521,TDA1521A,TDA1524A DataSheet PDF Datenblatt Datasheet Categories: GFB P22 EE8 FMM B69 TDA FEP SAH CM2 HIN hcp. TDA1543A; Audio Digital-to-Analog Converter. Request Philips Semiconductors TDA1543A: online from Elcodis, view and download TDA1543A pdf datasheet, Philips Semiconductors specifications. Download Philips Semiconductors (Acquired by NXP) TDA1543A pdf datasheet file.
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