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4. INDEX POSITION 3
D (Duration of L R Action)
SA during TA
SB during TB
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At index 3 Trigger that we choose are left and
right edge line sensors. This means that if
of the
left sensors is selected
right sensors selected
touches the
Action from step A to step I will be executed
sequentially.
For Action, we select Turn Left.
After taking action to turn the robot left we
increase speed by setting the value of V in SA
by 170 for 380ms
After that, we slow down the robot by setting
the value of V on the SB by 70 for 100ms so
that the robot does not overdo it because it
does not hold the force of inertia when it will
turn in the next index.
If we choose only one sensor group on the left
then the robot will not turn at the T-junction
we are headed for, but it will turn at the
elbow line, because the sensor or Trigger
requirements surely be met at that point
(Figure 2).
We can choose the right sensor only as a
trigger, because when the robot goes to the
index point 3 the right sensor will not be hit
by a line until the index point is headed.
If you want to just keep using the left sensor,
you need to add the TA value until the robot
passes the elbow line. To measure the
distance, use the stop index (see the stop
index explanation section).
If we choose Trigger with OR mode, it will be
easier to detect the line, the risk is if there is
a stain on the track, the Trigger will be
fulfilled and the robot will take action at a
point that we don't want.
USER GUIDE
one
and
one of the
line, the
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