Upload File

line followers: basic to proportional -...

  • Home
  • Documents
  • Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower
15
ADVANCED EV3 PROGRAMMING LESSON Line Followers: Basic to Proportional By Sanjay and Arvind Seshan

Upload: trinhminh

Post on 10-Apr-2018

221 views

Category:

Documents


0 download

Report

TRANSCRIPT

Page 1: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

ADVANCEDEV3PROGRAMMINGLESSON

LineFollowers:BasictoProportionalBySanjayandArvindSeshan

Page 2: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

ì Evaluateandcomparedifferentlinefollowers

ì Learntousetheconceptof“proportional”tocreateaproportionallinefollower

ì Prerequisites:BasicLineFollower,ColorLineFollower,ColorSensorCalibration,ProportionalControl,MathBlocks,DataWires

©2015EV3Lessons.com,Lastedit4/5/2015 2

LessonObjectives

Page 3: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

©2015EV3Lessons.com,Lastedit4/5/2015 3

WhichProgramWorksBestforWhichSituation?

SmoothLineFollower• Almostthesameassimple• Turnsarelesssharp• Hastroubleonsharpcurves• Good forrookieteamsà needtoknow

loopsandswitches

SimpleLineFollower• Mostbasiclinefollower• Wigglesalotduetosharpturns• Good forrookieteamsà needto

knowloopsandswitches

ProportionalFollower• Usesthe“P”inPID• Makesproportional turns• Workswellonbothstraightandcurved

lines• Good forintermediatetoadvanced

teamsà needtoknowmathblocksanddatawires

3-StageFollower• Bestforstraightlines• Droidsdonot recommendthis.

Justlearntheproportional linefollower.

• Needtoknownestedswitches

Watchthevideosonthenext2slidestoseeallfour.

Page 4: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

©2015EV3Lessons.com,Lastedit4/5/2015 4

CurvedLine:WatchVideos

SmoothLineFollowerSimpleLineFollower

Proportional Follower3-StageFollower

Page 5: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

StraightLine:WatchVideos

©2015EV3Lessons.com,Lastedit4/5/2015 5

SmoothLineFollowerSimpleLineFollower

Proportional Follower3-StageFollower

Page 6: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

ì Challenge1:Canyouwriteasimplelinefollower?Hint:ReviewBeginner:BasicLineFollowerlesson

ì Challenge2:Canyouwriteasmootherlinefollower?Hint:Changehowsharptheturnsareinasimplelinefollower.

ì Challenge3:Canyouwriteathree-stagelinefollowerwheretherobotmovesdifferent3differentways(left,rightorstraight)basedonthereadingfromthecolorsensor?

©2015EV3Lessons.com,Lastedit4/5/2015 6

3LineFollowerChallenges

Page 7: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

ì CALIBRATE:ì TheprogramsusetheEV3ColorSensorinLightSensormodeì Youwillhavetocalibrateyoursensors.ì PleaserefertoIntermediate:ColorSensorCalibrationLesson

ì PORTS:ì TheColorSensorisconnectedtoPort3.ì Pleasechangethisforyourrobot.

ì WHICHSIDEOFTHELINE:ì Pleasetakenoteofwhichsideofthelinethecodeiswrittenfor

©2015EV3Lessons.com,Lastedit4/5/2015 7

ANoteAboutOurSolutions

Page 8: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

Solution1:SimpleLineFollower

©2015EV3Lessons.com,Lastedit4/5/2015 8

Page 9: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

Solution2:SmoothLineFollower

©2015EV3Lessons.com,Lastedit4/5/2015 9

Page 10: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

Solution3:Three-StageLineFollower

©2015EV3Lessons.com,Lastedit4/5/2015 10

Page 11: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

Challenge4:Canyouwriteaproportionallinefollowerthatchangestheangleoftheturndependingonhowfarawayfromthelinetherobotis?

Pseudocode:

1. ResettheRotationsensor(Onlyrequiredforlinefollowingforatotaldistance)

2. Computetheerror=Distancefromline=(Lightsensorreading– TargetReading)

3. Scaletheerrortodetermineacorrectionamount.Adjustyourscalingfactortomakeyourobotfollowthelinemoresmoothly.

4. UsetheCorrectionvalue(computerinStep3)toadjusttherobot’sturntowardstheline.

©2015EV3Lessons.com,Lastedit4/5/2015 11

Challenge4:ProportionalLineFollower

Page 12: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

Solution:ProportionalLineFollower

©2015EV3Lessons.com,Lastedit4/5/2015 12

Page 13: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

ì Youwillgetbetterresults

ì ….ifyourcolorsensorsareclosertotheground

ì ….remembertocalibrate

©2015EV3Lessons.com,Lastedit4/5/2015 13

Tips

Page 14: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

©2015EV3Lessons.com,Lastedit4/5/2015 14

DiscussionGuide

SmoothLineFollower++--

SimpleLineFollower++--

ProportionalFollower++--

Three-StageLineFollower++--

Fillintheabovewithpositivesandnegativesofeachtechnique.Consider ifthelinefollowerisbestforcurvedorstraightlines.Consider iftherobotwillwigglealot.

Page 15: Line Followers: Basic to Proportional - EV3Lessons.comev3lessons.com/translations/en-us/advanced/LineFollower.pdf · Line Followers: Basic to Proportional ... proportional line follower

ì ThistutorialwascreatedbySanjaySeshan andArvindSeshan

ì Morelessonsatwww.ev3lessons.com

©2015EV3Lessons.com,Lastedit4/5/2015 15

Credits

This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.


Line%Followers:%Basic%to% Proportionalstemrobotics.cs.pdx.edu/sites/default/files/linefollower.pdf · Lesson%Objectives% 1. Evaluate#and#compare#differentline#followers# 2. Learn#to#use#the#conceptof#“propor,onal”#to#create#a

Vickers Proportional Valves Proportional Directional and

EVP Series Proportional Control Valves - Clippard … Data Sheets/EVP...Clippard is pleased to add the EVP series proportional control valve to our Electronic Valve product line. This

Density. Vocabulary Proportional Inversely proportional Ratio

PID LINE FOLLOWER - primelessons.orgprimelessons.org/lessons/PIDLineFollower.pdfPID LINE FOLLOWER BY SANJAY AND ARVIND SESHAN. LESSON OBJECTIVES Learn the limitations of proportional

PID CONTROL OF LINE FOLLOWERS

Understanding of the Proportional Counters · proportional counter works and advise the best settings for the proportional counter to be under. •Create a system guide line for extracting

Proportional versus Non-proportional

Proportional ReasoningProjector Resources Proportional Reasoning Projector Resources

By Droids Robotics Line Followers: Basic to Proportional ADVANCED EV3 PROGRAMMING LESSON © 2015 EV3Lessons.com, Last edit 4/5/2015 1

Building Autonomous Line Followers with Arduino and PID!api.ning.com/files/FIJoHWv3wR6GMXp7Lwg9caKZB5... · Building Autonomous Line Followers with Arduino and PID! Page | 2 \Aneesh

Techniques to Get More Followers for Your LINE Official … to...Techniques to Get More Followers for your LINE Official Account 6 2. Click ‘Add Friend’ on the bottom left menu

Weekly Social Media Planner · 2020. 8. 12. · Instagram Followers Tracker SOCIAL MEDIA 3/8 Date FOLLOWERS Date FOLLOWERS Date FOLLOWERS Date FOLLOWERS Date FOLLOWERS Date FOLLOWERS

Social Report for hm - Klear · Fans include Twitter followers, Facebook likes, and Instagram followers TOP NEW FOLLOWERS @lukescrystal 10.1K Followers @misshapemistake 2.2K Followers

Line Followers: Basic to PID · ìChallenge 1: Can you write a simple line follower?Hint: Review Beginner: Basic Line Follower lesson ìChallenge 2: Can you write a smoother line

November 10, 2016...million Instagram followers, 2,823,412 Facebook likers and 453,000 Twitter followers. This highly recognizable cosmetics line, which has generated an overwhelming

Servo for Web · Servo-Proportional Valves Product Line Overview In addition to servo and proportional valves, our product lines include cartridge/slip-in, pressure relief, sandwich/modular/stack,

Building Autonomous Line Followers with Arduino and …arduino.net.ua/upload/information_system_8/1/3/1/item... ·  · 2011-04-13Building Autonomous Line Followers with Arduino and

Building Autonomous Line Followers with Arduino!

Cam Followers & Roller Followers Special Selection

Technical Manual w/ AOL Advisory  · Web viewDescriptive text is presented in a proportional font. "Snapshots" of computer dialogue (and other on-line displays) are shown in a non-proportional

ADVANCED EV3 PROGRAMMING LESSON EV3 Classroom ...Line Followers: Basic to PID By Sanjay and Arvind Seshan ìEvaluate and compare different line followers ìPrerequisites: Complete

Proactive and Reactive Product Line Strategies: …...Proactive and Reactive Product Line Strategies: Asymmetries Between Market Leaders and Followers Venkatesh Shankar Mays Business

7-4 Parallel Line and Proportional Parts. You used proportions to solve problems between similar triangles. Use proportional parts within triangles. Use

PID CONTROL OF LINE FOLLOWERS - CORE

Building Autonomous Line Followers using Arduino and PID.pdf

ARE SOCIAL MEDIA THE · FOLLOWERS ON CORPORATE TWITTER PROFILES Roche 4,586 followers eBay 4,638 followers Syngenta 1,724 followers Procter & Gamble 5,166 followers NCR Corporation

corporation Cam Followers & Roller Followers Cam Followers & Roller Followers カムフォロア・ローラフォロア CONTENTS Technical Data on Cam Followers カムフォロア解説

Barbara Blogger - Media Kit · Twitter Product Reviews5,000+ Followers Facebook 7,000+ Followers Instagram 12,000+ Followers Pinterest 10,000+ Followers Sponsored Blog Posts - original

Proportional vs. Non-proportional

ADVANCED EV3 PROGRAMMING LESSONìLearn to create a proportional line follower ìPrerequisites: Basic Line Follower, Color Line Follower, Color Sensor Calibration, Proportional Control,

Transformation and growth at Vogue: An audience-first approach · 48M Instagram followers 1.7M Snapchat followers 4.6M monthly audience 56M global web audience 1M LINE followers 1.3M

49813253 Building Autonomous Line Followers Using Arduino and PID

Line Followers: Basic to Proportional · Evaluate and compare different line followers Learn to use the concept of “proportional” to create a proportional line follower Prerequisites:

PROPORTIONAL AND NON-PROPORTIONAL TRANSFER OF MOVEMENT