LAB.9 - Bump car

Date: 10/11-2010
Duration of activity: 10:15 - 13:00
Group members participating: Kaalund, Brian
-Continued-
Date: 11/11-2010
Duration of activity: 11:15 - 13:30
Group members participating: Kaalund, Brian
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Goal:
- Measure the presicion over 20 inches track
- Make precise turns with tacho counter the goal is 90 degrees
- Make a track and se how well the car navigates
- explain how a avoid and return to coarse could be implemented
Problems and Solutions (notes):
- Because it is an Amarican libary they do not use the metric system so there is some calculation errors
- the precise wheel with and axel length is modified until the precise distance and angle rotation is achieved, even though we have measured it.



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Detailed description of Tests and solutions
- The test track to evaluate our own system and the koordinate drive from lejos

- Solution to avoid objects and return to track (not implemented). The idea is that when the Lego car detects an object it will back up and turn 90 degrees. Drive forward and make an parallel path for a certain distance and then return to path.

Measurement
Calibration of turning and distance.
- 20 inches test showed it moved 19,48 inches

- Making 90 degree turn

          1: 5.8268 inch = 115 degree

          2: 4.409 inch = 94 degree

          3: 3.543 inch = 75 degree

          4: (mean value of (2) and (3)) = 3.976 inch = 85 degree

          5: 4.1 inch = 88 degree

          6: 4.19 inch = 91 degree

          The first (1) of the measurment turning 90 degrees, was the outer diameter of the wheel base.

Finale Status:

- Our own implemented koordinate system shoved a better result than the delivered from leJos, but it was not perfect as shown in video. and also not bug free.
To get it to work perfectly we had to measure the wheels precise and then add or subtract until it worked perfectly. Because there is an issue with precision.