Embedded Files
Obstacle Avoidance & Line follower
Obstacle Avoidance & Line follower
Our code on mblock can make our robot
Our code on mblock can make our robot
1.follow black lines
1.follow black lines
2.avoid obstacles
2.avoid obstacles
The details of our program will be introduced below.
The details of our program will be introduced below.
1.Follow black lines
1.Follow black lines
(a.)First, we have to define these functions: forward, turnRight, turnLeft and backward
(a.)First, we have to define these functions: forward, turnRight, turnLeft and backward
These functions can make mbot go forward, turn right, turn left, and go backward.
(moveSpeed is a valuable we set to control its speed.)
(b.)Then, we define a function: lineFollow, and put the functions we just mentioned above in lineFollow. With line follower sensors and some if-else conditions, we can make our mbot follow black lines.
(b.)Then, we define a function: lineFollow, and put the functions we just mentioned above in lineFollow. With line follower sensors and some if-else conditions, we can make our mbot follow black lines.
This is the function that allows our mbot to follow the line while moving around. Here, we set several variables , like lineFollowersensor and lineDirIndex. With these variables and a few if-else conditions. We get our mbot follow the path.
1. lineFollowSensor : varaible we used to get the information from the line follower sensor.
2.lineDirindex :variable we used to decide which way mbot will move.(4 modes :forward,backward,turnleft and turnRight.)
2.Avoid obstacles
2.Avoid obstacles
(a.)Similarly, we have to define some function to do the avoidance. The idea we figure out is to walk a circle to avoid the obstacles. Therefore, we define makeCircle as our function.
(a.)Similarly, we have to define some function to do the avoidance. The idea we figure out is to walk a circle to avoid the obstacles. Therefore, we define makeCircle as our function.
we set two wheels in different speed, so that the mbot can walk a circle until the line follower sensors detect black lines.
(b.)With makeCircle, we can easily build a function(obstacleAvoidance) to avoid obstacles.
(b.)With makeCircle, we can easily build a function(obstacleAvoidance) to avoid obstacles.
It will turn left, and make a circle by setting different speeds on the two wheels which we just mentioned before.
Combine line following and obstacle avoidance, we have our complete program.
Combine line following and obstacle avoidance, we have our complete program.
We use ultrasonic sensor to detect obstacles.
We use ultrasonic sensor to detect obstacles.
If mbot detect a obstacle, and its distance < 9 (also > 1 ), it will do the function obstacleAvoidance. Otherwise, mbot will do the function lineFollow to walk through the black lines.
Mbot will repeat this process when we press board button.
Demo video
Demo video
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