Tristans March Blog

After assistance from Rhys, we were able to successfully complete the calibration feature and incorporate Rhys’ menu to display the threshold values. Then the white line tracking had started, initially this was the more difficult of the objectives. It was difficult to achieve both a smooth white line tracking whilst travelling at a reasonable speed. I found that stopping the motors when it travelled onto the white was effective at tracking, but it was very jittery. To fix this instead of breaking the motors I would just slow them down so it would keep travelling forward but correct itself slowly. This was effective; however, I did struggle with correcting it when it would turn around corners, sometimes it would work but there were times it got stuck. In hindsight, I would have put the vera board on the bottom further forward, I noticed that being close to the center did not give it much time to react to changes in conditions such as the corners, and maybe put the LDRs and white LEDs slightly further apart rather than sitting right outside the white line, because this made it a bit more sensitive than intended. With more time these problems could have been fixed through hardware, but for now they are just reflections and ideas for future projects.