Page 290 · Robotics with the Boe-Bot
for the pair that is now over the electrical tape should increase to 4 or 5. Keep in mind
that if you move the Boe-Bot toward its left, the right detectors should increase in value,
and if you move the Boe-Bot toward its right, the left detectors should show the higher
value.
√ Adjust your IR LED/detector pairs until the Boe-Bot passes this last test. Then
you will be ready to try following the stripe.
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Figure 8-12
Stripe Scan
Test
IR pairs close-up Top view of Boe-Bot straddling the stripe
Programming for Stripe Following
You will only need to make a few small adjustments to FollowingBoeBot.bs2. from page
282 to make it work for following a stripe. First, the Boe-Bot should move toward
objects closer than the
SetPoint and away from objects further from the SetPoint.
This is the opposite of how FollowingBoeBot.bs2 behaved. To reverse the direction the
Boe-Bot moves when it senses that the object is not at the
SetPoint distance, simply
change the signs of
Kpl and Kpr. In other words, change Kpl from -35 to 35, and change
Kpr from 35 to -35. You will need to experiment with your SetPoint. Values from 2 to
4 tend to work best. This next example program will use a
SetPoint of 3.
Example Program: StripeFollowingBoeBot.bs2
√ Open FollowingBoeBot.bs2 and save it as StripeFollowingBoeBot.bs2.
√ Change the
SetPoint declaration from SetPoint CON 2 to SetPoint CON 3.
√ Change
Kpl from -35 to 35.
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