[PDF] Line Followers: Basic to Proportional - WordPresscom PDF linefollower-1.pdf

2015 EV3Lessons com, Last edit 4/5/2015 3 Which Program Works Best for Which Situation? Smooth Line Follower • Almost the same as simple • Turns are

Evaluate and compare different line followers ⬈ Prerequisites: Complete all Line Follower lessons on EV3Lessons com, Calibration ⬈ Videos will not play in

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[PDF] Line Followers: Basic to Proportional - WordPresscom

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ADVANCED EV3

PROGRAMMING LESSON

Line Followers: Basic to Proportional

By Sanjay and Arvind Seshan

ÒEvaluate and compare different line followers

ÒLearn to use the concept of ͞proportional" to create a proportional line follower ÒPrerequisites: Basic Line Follower, Color Line Follower, Color Sensor Calibration, Proportional Control, Math Blocks, Data Wires

© 2015 EV3Lessons.com, Last edit 4/5/20152

Lesson Objectives

© 2015 EV3Lessons.com, Last edit 4/5/20153

Which Program Works Best for Which

Situation?

Smooth Line Follower

Almost the same as simple

Turns are less sharp

Has trouble on sharp curves

Good for rookie teams AEneed to know

loops and switches

Simple Line Follower

Most basic line follower

Wiggles a lot due to sharp turns

Good for rookie teams AEneed to

know loops and switches

Proportional Follower

Uses the ͞P" in PID

Makes proportional turns

Works well on both straight and curved

lines

Good for intermediate to advanced

teams AEneed to know math blocks and data wires

3-Stage Follower

Best for straight lines

Droids do not recommend this.

Just learn the proportional line

follower.

Need to know nested switches

Watch the videos on the next 2 slides to see all four.

© 2015 EV3Lessons.com, Last edit 4/5/20154

Curved Line: Watch Videos

Smooth Line FollowerSimple Line Follower

Proportional Follower3-Stage Follower

Straight Line: Watch Videos

© 2015 EV3Lessons.com, Last edit 4/5/20155

Smooth Line FollowerSimple Line Follower

Proportional Follower3-Stage Follower

ÒChallenge 1: Can you write a simple line follower? Hint: Review

Beginner: Basic Line Follower lesson

ÒChallenge 2: Can you write a smoother line follower? Hint: Change how sharp the turns are in a simple line follower. ÒChallenge 3: Can you write a three-stage line follower where the robot moves different 3 different ways (left, right or straight) based on the reading from the color sensor?

© 2015 EV3Lessons.com, Last edit 4/5/20156

3 Line Follower Challenges

ÒCALIBRATE:

ÒThe programs use the EV3 Color Sensor in Light Sensor mode

ÒYou will have to calibrate your sensors.

ÒPlease refer to Intermediate: Color Sensor Calibration Lesson

ÒPORTS:

ÒThe Color Sensor is connected to Port 3.

ÒPlease change this for your robot.

ÒWHICH SIDE OF THE LINE:

ÒPlease take note of which side of the line the code is written for

A Note About Our Solutions

Solution 1: Simple Line Follower

Solution 2: Smooth Line Follower

Solution 3: Three-Stage Line Follower

Challenge 4: Can you write a proportional line follower that changes the angle of the turn depending on how far away from the line the robot is?

Pseudocode:

1.Reset the Rotation sensor (Only required for line following for a total distance)

2.Compute the error = Distance from line = (Light sensor reading -Target Reading)

3.Scale the error to determine a correction amount. Adjust your scaling factor to make you robot follow the line more smoothly.

4.Use the Correction ǀalue (computer in Step 3) to adjust the robot's turn towards the line.

Challenge 4: Proportional Line Follower

Solution: Proportional Line Follower

ÒYou will get better results

Tips

Discussion Guide

Smooth Line Follower

Simple Line Follower

Proportional Follower

Three-Stage Line Follower

Fill in the above with positives and negatives of each technique. Consider if the line follower is best for curved or straight lines. Consider if the robot will wiggle a lot. ÒThis tutorial was created by Sanjay Seshanand Arvind Seshan

ÒMore lessons at www.ev3lessons.com

Credits

This work is licensed under aCreative Commons Attribution- NonCommercial-ShareAlike4.0 International License.quotesdbs_dbs20.pdfusesText_26

[PDF] [PDF] Line Followers: Basic to Proportional - WordPresscom

ADVANCED EV3

PROGRAMMING LESSON

Line Followers: Basic to Proportional

By Sanjay and Arvind Seshan

ÒEvaluate and compare different line followers

© 2015 EV3Lessons.com, Last edit 4/5/20152

Lesson Objectives

© 2015 EV3Lessons.com, Last edit 4/5/20153

Which Program Works Best for Which

Situation?

Smooth Line Follower

Almost the same as simple

Turns are less sharp

Has trouble on sharp curves

Good for rookie teams AEneed to know

Simple Line Follower

Most basic line follower

Wiggles a lot due to sharp turns

Good for rookie teams AEneed to

Proportional Follower

Uses the ͞P" in PID

Makes proportional turns

Works well on both straight and curved

Good for intermediate to advanced

3-Stage Follower

Best for straight lines

Droids do not recommend this.

Just learn the proportional line

Need to know nested switches

© 2015 EV3Lessons.com, Last edit 4/5/20154

Curved Line: Watch Videos

Smooth Line FollowerSimple Line Follower

Proportional Follower3-Stage Follower

Straight Line: Watch Videos

© 2015 EV3Lessons.com, Last edit 4/5/20155

Smooth Line FollowerSimple Line Follower

Proportional Follower3-Stage Follower

Beginner: Basic Line Follower lesson

© 2015 EV3Lessons.com, Last edit 4/5/20156

3 Line Follower Challenges

ÒCALIBRATE:

ÒYou will have to calibrate your sensors.

ÒPORTS:

ÒThe Color Sensor is connected to Port 3.

ÒPlease change this for your robot.

ÒWHICH SIDE OF THE LINE:

© 2015 EV3Lessons.com, Last edit 4/5/20157

A Note About Our Solutions

Solution 1: Simple Line Follower

© 2015 EV3Lessons.com, Last edit 4/5/20158

Solution 2: Smooth Line Follower

© 2015 EV3Lessons.com, Last edit 4/5/20159

Solution 3: Three-Stage Line Follower

© 2015 EV3Lessons.com, Last edit 4/5/201510

Pseudocode:

1.Reset the Rotation sensor (Only required for line following for a total distance)

2.Compute the error = Distance from line = (Light sensor reading -Target Reading)

3.Scale the error to determine a correction amount. Adjust your scaling factor to make you robot follow the line more smoothly.

4.Use the Correction ǀalue (computer in Step 3) to adjust the robot's turn towards the line.

© 2015 EV3Lessons.com, Last edit 4/5/201511

Challenge 4: Proportional Line Follower

Solution: Proportional Line Follower

© 2015 EV3Lessons.com, Last edit 4/5/201512

ÒYou will get better results

© 2015 EV3Lessons.com, Last edit 4/5/201513

© 2015 EV3Lessons.com, Last edit 4/5/201514

Discussion Guide

Smooth Line Follower

Simple Line Follower

Proportional Follower

Three-Stage Line Follower

ÒMore lessons at www.ev3lessons.com

© 2015 EV3Lessons.com, Last edit 4/5/201515

Credits