So now we have the bot, we have servo control for steering (throttle is still on the R/C remote), we have sensors to detect right hand walls.
To follow a wall, you simply want to turn towards the wall if it's away from you, and away from it if it's going to be in your way. Sounds easy, right? The biggest problems we're running into is the delay between sensor data and the servo actually moving. It either makes a continuous sine wave path, or the delay is too much and it turns into a wall before detecting that it should turn away. So that's what we'll be working on for the next few sessions!
All the code for the work up to now is available at http://defconbots.org/defcon17/example/
1 comment:
It sounds like you need to implement a PID controller for following the walls. I forget, does the course specifications allow for sharp corners?
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