After yesterday's failed attempt at making a good straightening contraption, I set out to think of a new plan today. I thought the other method to do this is to make sure the robot was equidistant to the wall during the runs down the aisles. This can be done easily by mounting an ultrasonic sensor sideways. However, I needed the ultrasonic sensor to determine where to turn as well. So the decision was to use a servo to swivel the ultrasonic sensor sideways or forwards when needed.
I finished writing the code for this but the program crashed before I had a chance to save. But when testing it out, it was finnicky and would sometimes compensate the wrong direction. This was due to the sonar sometimes giving faulty readings or updating slowly. It felt like an unreliable means to make something unreliable more reliable.
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