Line follower proportional py v2 - Revision history

Mol: Marked this version for translation

2020-09-23T14:48:05Z

Marked this version for translation

← Older revision		Revision as of 17:48, 23 September 2020
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	<translate>		<translate>

	== Introduction ==		== Introduction == <!--T:1-->

	=== Robot ===		=== Robot === <!--T:2-->

			<!--T:3-->
	The idea and principle works for almost any robot thought this is tested using Asimov.		The idea and principle works for almost any robot thought this is tested using Asimov.

	=== Sensors ===		=== Sensors === <!--T:4-->

			<!--T:5-->
	The color sensor in reflected light intensity mode is used.		The color sensor in reflected light intensity mode is used.
	The sensor convention is		The sensor convention is
Line 18:		Line 20:
	#port 4 = infrared or ultrasonic		#port 4 = infrared or ultrasonic

	== An Illuminating Example ==		== An Illuminating Example == <!--T:6-->

			<!--T:7-->
	<youtube>q8XD_El4DEI</youtube>		<youtube>q8XD_El4DEI</youtube>

	== Theory ==		== Theory == <!--T:8-->

			<!--T:9-->
	The proportional line follower actually follows the other side of the line. The turning radius is calculated using the minimum, maximum and current color sensor readings. Also, a proportional coefficient (P) is introduced. It should be noted that the values of the steering function needs be between -100 and +100. Thus, we employ Python Max and Min function.		The proportional line follower actually follows the other side of the line. The turning radius is calculated using the minimum, maximum and current color sensor readings. Also, a proportional coefficient (P) is introduced. It should be noted that the values of the steering function needs be between -100 and +100. Thus, we employ Python Max and Min function.

	== An Example Code ==		== An Example Code == <!--T:10-->

			<!--T:11-->
	<syntaxhighlight lang="python">		<syntaxhighlight lang="python">
	#!/usr/bin/env python3		#!/usr/bin/env python3
	# https://sites.google.com/site/ev3devpython/		# https://sites.google.com/site/ev3devpython/

			<!--T:12-->
	#Sensor port convention:		#Sensor port convention:
	#port 3 = color		#port 3 = color
Line 38:		Line 44:
	#30 is Min		#30 is Min

			<!--T:13-->
	from ev3dev2.sensor.lego import ColorSensor		from ev3dev2.sensor.lego import ColorSensor
	from ev3dev2.motor import MoveSteering, OUTPUT_B, OUTPUT_C		from ev3dev2.motor import MoveSteering, OUTPUT_B, OUTPUT_C
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	import os		import os

			<!--T:14-->
	os.system('setfont Lat15-TerminusBold32x16')		os.system('setfont Lat15-TerminusBold32x16')

			<!--T:15-->
	steer_pair = MoveSteering(OUTPUT_B, OUTPUT_C)		steer_pair = MoveSteering(OUTPUT_B, OUTPUT_C)
	steer_pair.on(steering=0, speed=10)		steer_pair.on(steering=0, speed=10)

			<!--T:16-->
	cl = ColorSensor()		cl = ColorSensor()
	clMax = 84		clMax = 84
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	P = 2.0		P = 2.0

			<!--T:17-->
	clN = clAve		clN = clAve
	steering = 0		steering = 0

			<!--T:18-->
	while True:		while True:
	clN = cl.reflected_light_intensity		clN = cl.reflected_light_intensity
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	steer_pair.on(steering=steering, speed=20)		steer_pair.on(steering=steering, speed=20)

			<!--T:19-->
	steer_pair.off()		steer_pair.off()
	sleep(5)		sleep(5)
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	<youtube>6j8KsGABPdU</youtube>		<youtube>6j8KsGABPdU</youtube>

	== Exercises ==		== Exercises == <!--T:20-->

			<!--T:21-->
	1. It is difficult to debug the robot as it is silent. Let it say if it is in dark or light area. Use [https://python-ev3dev.readthedocs.io/en/ev3dev-stretch/sensors.html#color-sensor Sound.speak('White').wait()] command or e.g. sound.beep() command. Sound is imported using import Sound command.		1. It is difficult to debug the robot as it is silent. Let it say if it is in dark or light area. Use [https://python-ev3dev.readthedocs.io/en/ev3dev-stretch/sensors.html#color-sensor Sound.speak('White').wait()] command or e.g. sound.beep() command. Sound is imported using import Sound command.

			<!--T:22-->
	2. Make the robot move faster. Note that you need to change the parameters according to your line to follow (and robot). Generally, it is advised to change only one value at time. Time your original time and try to make it half.		2. Make the robot move faster. Note that you need to change the parameters according to your line to follow (and robot). Generally, it is advised to change only one value at time. Time your original time and try to make it half.

			<!--T:23-->
	3. Let the robot use the other side of the line.		3. Let the robot use the other side of the line.

			<!--T:24-->
	4. Now the while loop is forever. Make the robot stop when the right has turned 3.4 revolutions. See [https://sites.google.com/site/ev3devpython/learn_ev3_python/using-motors ev3 Python] for help.		4. Now the while loop is forever. Make the robot stop when the right has turned 3.4 revolutions. See [https://sites.google.com/site/ev3devpython/learn_ev3_python/using-motors ev3 Python] for help.

			<!--T:25-->
	5. Let the robot end when it encounters a silver tape (highly shiny).		5. Let the robot end when it encounters a silver tape (highly shiny).

			<!--T:26-->
	6. The Rescue is robot game such that it needs to follow the dashed line. So, make a line with a segment missing, but make your robot to still overlap the missing segment and follow the line on the other side of the missing segment.		6. The Rescue is robot game such that it needs to follow the dashed line. So, make a line with a segment missing, but make your robot to still overlap the missing segment and follow the line on the other side of the missing segment.



			<!--T:27-->
	[[Category: Python v2]]		[[Category: Python v2]]
	[[Category: Line follower]]		[[Category: Line follower]]
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	[[Category: Asimov]]		[[Category: Asimov]]

	== About ==		== About == <!--T:28-->

			<!--T:29-->
	This course is supported by [https://meet-and-code.org/ Meet and Code]. The course is made in collaboration with [http://www.fllsuomi.org/ Robotiikka- ja tiedekasvatus ry].		This course is supported by [https://meet-and-code.org/ Meet and Code]. The course is made in collaboration with [http://www.fllsuomi.org/ Robotiikka- ja tiedekasvatus ry].
	[[File:MeetAndcodeLogo.png\|thumb]]		[[File:MeetAndcodeLogo.png\|thumb]]

Mol at 14:44, 23 September 2020

2020-09-23T14:44:48Z

← Older revision		Revision as of 17:44, 23 September 2020
Line 6:		Line 6:

	=== Robot ===		=== Robot ===

	The idea and principle works for almost any robot thought this is tested using Asimov.		The idea and principle works for almost any robot thought this is tested using Asimov.

	=== Sensors ===		=== Sensors ===

	The color sensor in reflected light intensity mode is used.		The color sensor in reflected light intensity mode is used.
	The sensor convention is		The sensor convention is
Line 17:		Line 19:

	== An Illuminating Example ==		== An Illuminating Example ==

	<youtube>q8XD_El4DEI</youtube>		<youtube>q8XD_El4DEI</youtube>

	== Theory ==		== Theory ==

	The proportional line follower actually follows the other side of the line. The turning radius is calculated using the minimum, maximum and current color sensor readings. Also, a proportional coefficient (P) is introduced. It should be noted that the values of the steering function needs be between -100 and +100. Thus, we employ Python Max and Min function.		The proportional line follower actually follows the other side of the line. The turning radius is calculated using the minimum, maximum and current color sensor readings. Also, a proportional coefficient (P) is introduced. It should be noted that the values of the steering function needs be between -100 and +100. Thus, we employ Python Max and Min function.

	== An Example Code ==		== An Example Code ==

	<syntaxhighlight lang="python">		<syntaxhighlight lang="python">
	#!/usr/bin/env python3		#!/usr/bin/env python3
Line 68:		Line 73:

	== Exercises ==		== Exercises ==

	1. It is difficult to debug the robot as it is silent. Let it say if it is in dark or light area. Use [https://python-ev3dev.readthedocs.io/en/ev3dev-stretch/sensors.html#color-sensor Sound.speak('White').wait()] command or e.g. sound.beep() command. Sound is imported using import Sound command.		1. It is difficult to debug the robot as it is silent. Let it say if it is in dark or light area. Use [https://python-ev3dev.readthedocs.io/en/ev3dev-stretch/sensors.html#color-sensor Sound.speak('White').wait()] command or e.g. sound.beep() command. Sound is imported using import Sound command.

Mol at 19:33, 22 September 2020

2020-09-22T19:33:24Z

← Older revision		Revision as of 22:33, 22 September 2020
Line 86:		Line 86:
	[[Category: Color sensor py v2]]		[[Category: Color sensor py v2]]
	[[Category: Asimov]]		[[Category: Asimov]]

			== About ==

			This course is supported by [https://meet-and-code.org/ Meet and Code]. The course is made in collaboration with [http://www.fllsuomi.org/ Robotiikka- ja tiedekasvatus ry].
			[[File:MeetAndcodeLogo.png\|thumb]]

	</translate>		</translate>

			[[Meet_and_Code_2020_II:_Python \| Meet and Code II: Python]]

Mol: Created page with " == Introduction == === Robot === The idea and principle works for almost any robot thought this is tested using Asimov. === Sensors === The color..."

2020-06-09T15:13:18Z

Created page with "<languages /> <translate> == Introduction == === Robot === The idea and principle works for almost any robot thought this is tested using Asimov. === Sensors === The color..."

New page

<languages />

<translate>

== Introduction ==

=== Robot ===
The idea and principle works for almost any robot thought this is tested using Asimov.

=== Sensors ===
The color sensor in reflected light intensity mode is used.
The sensor convention is
#port 1 = touch,
#port 2 = gyro,
#port 3 = color,
#port 4 = infrared or ultrasonic

== An Illuminating Example ==
<youtube>q8XD_El4DEI</youtube>

== Theory ==
The proportional line follower actually follows the other side of the line. The turning radius is calculated using the minimum, maximum and current color sensor readings. Also, a proportional coefficient (P) is introduced. It should be noted that the values of the steering function needs be between -100 and +100. Thus, we employ Python Max and Min function.

== An Example Code ==
<syntaxhighlight lang="python">
#!/usr/bin/env python3
# https://sites.google.com/site/ev3devpython/

#Sensor port convention:
#port 3 = color
#port 1 = touch, port 2 = gyro, port 3 = color, port 4 = infrared or ultrasonic.
#84 is Max
#30 is Min

from ev3dev2.sensor.lego import ColorSensor
from ev3dev2.motor import MoveSteering, OUTPUT_B, OUTPUT_C
from time import sleep
import os

os.system('setfont Lat15-TerminusBold32x16')

steer_pair = MoveSteering(OUTPUT_B, OUTPUT_C)
steer_pair.on(steering=0, speed=10)

cl = ColorSensor()
clMax = 84
clMin = 30
clAve = (clMax + clMin)/2
P = 2.0

clN = clAve
steering = 0

while True:
clN = cl.reflected_light_intensity
#print( clN )
#print( clAve )
steering = P*( clN - clAve )
steering = min(steering, 100)
steering = max(steering, -100)
print( steering )
steer_pair.on(steering=steering, speed=20)

steer_pair.off()
sleep(5)
</syntaxhighlight >
<youtube>6j8KsGABPdU</youtube>

== Exercises ==
1. It is difficult to debug the robot as it is silent. Let it say if it is in dark or light area. Use [https://python-ev3dev.readthedocs.io/en/ev3dev-stretch/sensors.html#color-sensor Sound.speak('White').wait()] command or e.g. sound.beep() command. Sound is imported using import Sound command.

2. Make the robot move faster. Note that you need to change the parameters according to your line to follow (and robot). Generally, it is advised to change only one value at time. Time your original time and try to make it half.

3. Let the robot use the other side of the line.

4. Now the while loop is forever. Make the robot stop when the right has turned 3.4 revolutions. See [https://sites.google.com/site/ev3devpython/learn_ev3_python/using-motors ev3 Python] for help.

5. Let the robot end when it encounters a silver tape (highly shiny).

6. The Rescue is robot game such that it needs to follow the dashed line. So, make a line with a segment missing, but make your robot to still overlap the missing segment and follow the line on the other side of the missing segment.

[[Category: Python v2]]
[[Category: Line follower]]
[[Category: Color sensor py v2]]
[[Category: Asimov]]

</translate>