Variobot variAnt Instructions Manual page 36

9) Notes on the Testing Environment
Surface
Please test your programs preferably on the floor to
prevent variAnt from accidentally falling off the
table. However, in a dark environment with direct
lighting on a bright table, it can generally avoid the
edges of the table as well.
Always use a smooth surface to enable lateral
compensation movements that use the rollers on
variAnt's legs.
Since the surface serves as a brightness reference,
it's best if it is uniformly bright.
In general, the obstacles should neither be
brighter than the surface nor too small.
Lighting
For the best results, use the robotic ant under a
ceiling light or near a window.
Avoid any lateral light sources that could cause
a glare on the photosensors.
Brightness
Since variAnt can detect relative brightness values
due to the combination of the photosensors, its
sensor system works in both very bright and almost
dark environments.
In addition, unlike other robots, variAnt does not
need to emit infrared light to detect lines or
objects. This simplifies the circuitry and reduces
power consumption at the same time.
Sensor alignment
To prevent large, distant objects or shadows from
being mistaken as obstacles, the sensors on the
legs and antennae are tilted approximately 45°
downwards. For this reason, the sensors in the
mandibles and at the rear part should also be
slightly inclined towards the ground.
On the other hand, the three optional sensors on
the breadboard are primarily used to detect the
direction of light sources, which is why these
should be directed upwards.