We have now changed our white line sensors to a 2x1x2 formation that has greatly improved its capabilities. As we are using a seesaw expansion board for all sensors there is no hardware limitation for this and incorporating it into the code was simple enough, providing far better line following.
As well as this, we have great progress on the ultrasonics. We have now incorporated a display as a visual diagnostics tool and from this we can clearly see the outputs of the ultrasonics and white line sensors and see that they are working properly. Furthermore, we have fitted a 5th permanent Ultrasonic at the dead centre of the mouse to give up complete coverage of the front of the mouse, allowing it hypothetically to see everything in front of it. I am still working on the software side of it but am confident I will get it working very well.
We still havent developed any comat code so this will be a job for next month.
Thomas Hobbs 2114555
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