Subject:
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wall-follower using Dennis Clark's IRPD
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Newsgroups:
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lugnet.robotics
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Date:
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Mon, 12 Apr 1999 22:40:51 GMT
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Viewed:
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1211 times
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Earlier this year I tried building a wall-follower using RCX's built-in IR
port as the proximity detector. However I could not get consistent readings
from the light sensor to make it work. I thought it was because the
SendMessage trick did not turn on the the IR light all the time, but just made
it pulse. Then I tried more and more fancy sampling algorithms, but still the
robot would turn into the wall randomly.
Last week I got my IRPD kit from Dennis Clark
(http://www.verinet.com/~dlc/projects/botproj.htm#lirpd). I mount it facing 45
degrees toward the front-left of the robot, and write a NQC program to "keep
an eye on the wall". (The robot turns right when it gets the right/both
detection, and it turns left when it gets the "neither" detection.) Also
equipped with a front bumper, this wall-follower wanders around my room pretty
well.
(Thinking back, rather than using SendMessage, maybe I should try using one of
the non-lego firmware to have the direct on/off control to the built-in IR
port.)
Hao-yang Wang
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