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ENGR 101: Robotics Lecture 7 – Line Following

ENGR 101: Robotics Lecture 7 – Line Following. Outline Line Following The Final Assignment References http://csserver.evansville.edu/~richardson/ Hacker's Hints for the Scribbler Robot PBASIC Programming Guide: Writing Programs BASIC Stamp Syntax and Reference Manual. 1.

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ENGR 101: Robotics Lecture 7 – Line Following

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  1. ENGR 101: RoboticsLecture 7 – Line Following • Outline • Line Following • The Final Assignment • References • http://csserver.evansville.edu/~richardson/ • Hacker's Hints for the Scribbler Robot • PBASIC Programming Guide: Writing Programs • BASIC Stamp Syntax and Reference Manual 1

  2. Lecture 7 – Line FollowingLine Following Sensors • There are two IR emitter/detector pairs on the bottom of the Scribbler. The IR emitters are both connected to same pin (PIN 3) and must be turned on/off simultaneously. The right detector is connected to pin 4 while the left is connected to pin 5. • The detector pins return either a 1 (black surface) or a 0 (white surface). The following program illustrates reading the detectors. 2

  3. Lecture 7 – Line FollowingLine Following Sensors LineOn PIN 3 LineRt PIN 4 LineLt PIN 5 HIGH LineOn DO DEBUG CLS, HOME IF (LineRt = 1) THEN DEBUG "Right = black" ELSE DEBUG "Right = white" ENDIF DEBUG CR 3

  4. Lecture 7 – Line FollowingLine Following Sensors IF (LineLt = 1) THEN DEBUG "Left = black" ELSE DEBUG "Left = white" ENDIF PAUSE 500 LOOP END 4

  5. Lecture 7 – Line FollowingLine Following Sensors • Notice that we do not modulate the emitted IR like we did with object avoidance. Just turn on the emitters and leave them on. • The line sensors will see light colors as white and dark colors as black. • Line following works best on a smooth, hard surface. 5

  6. Lecture 7 – Line FollowingThe Final Assignment • Program the Scribbler to follow a light while staying confined to an area bounded by a black line and also avoiding obstacles. 6

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