scratchduino - User contributions [en]

Project ScratchDuinoRobotKit blackline

2018-06-27T15:46:26Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

[https://yadi.sk/d/GbsoeO923YVCda тест датчиков]

[https://yadi.sk/d/H8jsL67k3YVDX9 тест датчиков. Файл INO]

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [https://yadi.sk/d/h7YJVH2a3YRS5d Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply the E value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction. 
|-
XX seconds
||
||USB
||ROBBO Scratch Video 
|-
|XX seconds
||
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| '''Algorithm 6. Proportional-plus-differential controller.''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-27T15:40:26Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

[https://yadi.sk/d/GbsoeO923YVCda тест датчиков]

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [https://yadi.sk/d/h7YJVH2a3YRS5d Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply the E value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction. 
|-
XX seconds
||
||USB
||ROBBO Scratch Video 
|-
|XX seconds
||
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| '''Algorithm 6. Proportional-plus-differential controller.''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-26T11:36:25Z

Elena Vostrikova: /* Description of the ROBBO Scratch project */

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [https://yadi.sk/d/h7YJVH2a3YRS5d Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply the E value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction. 
|-
XX seconds
||
||USB
||ROBBO Scratch Video 
|-
|XX seconds
||
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| '''Algorithm 6. Proportional-plus-differential controller.''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:49:10Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply the E value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction. 
|-
XX seconds
||
||USB
||ROBBO Scratch Video 
|-
|XX seconds
||
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| '''Algorithm 6. Proportional-plus-differential controller.''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:46:49Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply the E value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction. 
|-
XX seconds
||
||USB
||ROBBO Scratch Video 
|-
|XX seconds
||
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| '''Algorithm 6. Proportional-plus-differential controller.''' 
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:39:47Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply the E value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction. 
|-
XX seconds
||
||USB
||ROBBO Scratch Video 
|-
|XX seconds
||
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| '''Algorithm 6. Proportional-plus-differential controller.''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:36:12Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply the E value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction. 
|-
XX seconds.
||
||USB
|||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| '''Algorithm 6. Proportional-plus-differential controller.''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:32:47Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply the E value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction. 

|-
|XX seconds.
||
||USB
|||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| '''Algorithm 6. Proportional-plus-differential controller.''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:30:49Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply the E value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction. 

|-
|XX seconds.
||
|||USB
||||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| '''Algorithm 6. Proportional-plus-differential controller.''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:28:39Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply the E value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction. 

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| '''Algorithm 6. Proportional-plus-differential controller.''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:27:05Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply the E value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction. 

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 6. Proportional-plus-differential controller.''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:25:56Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply the E value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction. 

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 6. Proportional-plus-differential controller.''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:22:36Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply the E value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 6. Proportional-plus-differential controller.''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.'''</center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:20:50Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 6. Proportional-plus-differential controller.''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. Proportional-integral-differential controller.'''</center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:14:35Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 6. Proportional-plus-derivative controller''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. ПИД-controller'''</center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:12:46Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 6. Proportional-plus-derivative controller''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. ПИД-controller'''</center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:07:34Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' and we denote it with a letter E. In our case, the error is the difference between the readings of two line sensors: E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxying to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 6. Пропорционально-дифференциальный controller''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. ПИД-controller'''</center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:05:23Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white area", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' и обозначим буквой E. In this case, the error is the difference between the readings of two line sensors:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxying to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 6. Пропорционально-дифференциальный controller''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. ПИД-controller'''</center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T13:02:34Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white line", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]. If the battery charge is low, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action over an object depends on the object's deflection from a certain state. Such deflection is called '''error''' и обозначим буквой E. In this case, the error is the difference between the readings of two line sensors:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen factor '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxying to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 6. Пропорционально-дифференциальный controller''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. ПИД-controller'''</center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T12:52:22Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white line", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [[https://youtu.be/9rBbZvaQ1FE] ROBBO Scratch Video] [[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2] Download the sketch]
||XX seconds
||[[https://youtu.be/Dv97KMJkuF0] Arduino IDE Video]]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action depends on the его отклонению от заданного состояния. Принцип действия П-controller основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino] Download the sketch]
|-
XX seconds
||
||7.4 V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 6. Пропорционально-дифференциальный controller''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||[ROBBO Scratch Video Download the sketch]
|XX seconds
||[Arduino IDE Video Download the sketch]
|-
|colspan=6| <center>'''Algorithm 7. ПИД-controller'''</center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||[ROBBO Scratch Video Download the sketch]
||XX seconds
||[Arduino IDE Video Download the sketch]
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T12:47:53Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white line", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action depends on the его отклонению от заданного состояния. Принцип действия П-controller основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino] Download the sketch]
|-
XX seconds
||
||7.4 V
||[[Media:ROBBO Scratch Video Download the sketch]]
||XX seconds
||[[Media:Arduino IDE Video Download the sketch]]
|-
|colspan=6| <center>'''Algorithm 6. Пропорционально-дифференциальный controller''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7. ПИД-controller'''</center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T12:45:14Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white line", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action depends on the его отклонению от заданного состояния. Принцип действия П-controller основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[[[Media:http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino]] Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6. Пропорционально-дифференциальный controller''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Al 7. ПИД-con troller'''</center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T12:38:29Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white line", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action depends on the его отклонению от заданного состояния. Принцип действия П-controller основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный controller''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-controller''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T12:36:56Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
<center>It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.
</center>

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' This algorithm is intended to keep the robot in the position "Both sensors of the robot are above the white line", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action depends on the его отклонению от заданного состояния. Принцип действия П-controller основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный controller''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-controller''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T12:32:16Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data with worse quality than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' Задача этого алгоритма to keep the robot in the position "Both sensors of the robot are above the white line", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action depends on the его отклонению от заданного состояния. Принцип действия П-controller основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный controller''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-controller''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T12:30:37Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the line sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data worse than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' Задача этого алгоритма to keep the robot in the position "Both sensors of the robot are above the white line", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action depends on the его отклонению от заданного состояния. Принцип действия П-controller основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный controller''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-controller''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T12:29:24Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1.''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2.''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data worse than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the robot's turning time of 0.1 seconds by 0.01 seconds. And increase the time of going ahead up to 0.2 seconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3.''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are used, special algorithms are needed to automate the robot's motion.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. Relay controller.''' Задача этого алгоритма to keep the robot in the position "Both sensors of the robot are above the white line", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot misses the sharp turns, because at a speed, the sensors cannot be above the black line both at the same time. [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - relay controller + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5. Proportional controller.''' Proportional controller is a device whose controlling action depends on the его отклонению от заданного состояния. Принцип действия П-controller основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный controller''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-controller''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T12:18:44Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE of two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half power (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch handles the timing data worse than Arduino IDE, therefore we have reduced the number of the ranges to 5 and simplified the action of motors. The motors are rotating forward all the time, with varying power.
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the intermediate values of the sensor cannot be handled. We join all the intermediate values [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Replace the time of 0.1 seconds when robot turning by 0.01 seconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Description of travelling along the black line with TWO sensors==
It is impossible to travel along a complicated track with crossings, forks, "zebras", and inverted sections using only one sensor. When two sensors are connected, special algorithms are needed to automate the robot's motion.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4 Relay controller.''' Задача этого алгоритма to keep the robot in the position "Both sensors of the robot are above the white line", that is, to the left and to the right from the black line. If both sensors are above the black line, the robot stops. [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||When powered by USB, the robot stops at the turn, because both sensors get above the black line. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Proportional controller/''' Proportional controller is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T11:48:11Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем Arduino IDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T11:47:11Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем Arduino IDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T11:46:34Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем Arduino IDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T11:44:04Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем Arduino IDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T11:39:04Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. '''»''' The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем Arduino IDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T11:14:52Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot misses the turns in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. » The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем Arduino IDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section where the values of the sensors are changing. 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (track record!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T11:10:50Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. » The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем Arduino IDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot misses the turn in 4 of 5 cases.
||Battery 7.4V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel all along without slowing down. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T11:08:51Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. » The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем Arduino IDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T11:06:37Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. » The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем Arduino IDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T11:05:10Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. » The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel all along without slowing down. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем Arduino IDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T11:01:56Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is off. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. » The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options, respectively. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel without slowing down all along. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем Arduino IDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T10:56:02Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is стоит. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. » The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel without slowing down all along. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем ArduiniIDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T10:55:07Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is стоит. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. » The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel without slowing down all along. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем ArduiniIDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T10:53:43Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is стоит. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. » The rest of the values ('''4''', '''5''', and '''6''') are mirroring the '''0''', '''1''', and '''2''' options. <center> The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel without slowing down all along. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем ArduiniIDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T10:48:52Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is стоит. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. » Остальные значения ('''4''', '''5''', and '''6''') являются зеркальными по отношению к '''0''', '''1''', and '''2'''. The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel without slowing down all along. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем ArduiniIDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T10:47:32Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position above the white area, closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is стоит. The robot turns on the fly during 0.1 second. '''» 2''' means the position at the border of the white and black areas, even more closer to the black line. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is at its half (120), rotating forward, too. The robot goes ahead and turns a bit, on the fly, during 0.1 second. '''» 3''' means the position at the border of the white and black areas, already above the black line. The left-hand and the right-hand motors are on and in full swing (255), both rotating forward. The robot goes ahead during 0.1 second. » Остальные значения ('''4''', '''5''', and '''6''') являются зеркальными по отношению к '''0''', '''1''', and '''2'''. The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel without slowing down all along. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем ArduiniIDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

</center>
|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T10:37:24Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center>'''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position над белым полем, ближе к чёрной линии. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is стоит. The robot поворачивается в движении during 0.1 second '''» 2''' means the position на границе белого и черного полей, еще ближе к чёрной линии. The left-hand motor включен на полную мощность (255) и крутится вперед, а правый включен на половине мощности (120) и тоже крутится вперед. The robot едет прямо и немного поворачивается в движении в течение 0,1 секунды '''» 3''' means the position на границе белого и черного полей, уже на чёрной линии. The left-hand and правые motors включены на полную мощность (255) и оба крутятся вперед. The robot едет прямо в течение 0,1 секунды Остальные значения (4,5 и 6) являются зеркальными по отношению к 0,1 и 2. The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel without slowing down all along. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем ArduiniIDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

</center>
|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T10:36:29Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: </center> '''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position над белым полем, ближе к чёрной линии. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is стоит. The robot поворачивается в движении during 0.1 second '''» 2''' means the position на границе белого и черного полей, еще ближе к чёрной линии. The left-hand motor включен на полную мощность (255) и крутится вперед, а правый включен на половине мощности (120) и тоже крутится вперед. The robot едет прямо и немного поворачивается в движении в течение 0,1 секунды '''» 3''' means the position на границе белого и черного полей, уже на чёрной линии. The left-hand and правые motors включены на полную мощность (255) и оба крутятся вперед. The robot едет прямо в течение 0,1 секунды Остальные значения (4,5 и 6) являются зеркальными по отношению к 0,1 и 2. The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel without slowing down all along. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем ArduiniIDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

</center>
|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T10:33:11Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. <aligned-left> The readings of the sensor are as follows: '''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position над белым полем, ближе к чёрной линии. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is стоит. The robot поворачивается в движении during 0.1 second '''» 2''' means the position на границе белого и черного полей, еще ближе к чёрной линии. The left-hand motor включен на полную мощность (255) и крутится вперед, а правый включен на половине мощности (120) и тоже крутится вперед. The robot едет прямо и немного поворачивается в движении в течение 0,1 секунды '''» 3''' means the position на границе белого и черного полей, уже на чёрной линии. The left-hand and правые motors включены на полную мощность (255) и оба крутятся вперед. The robot едет прямо в течение 0,1 секунды Остальные значения (4,5 и 6) являются зеркальными по отношению к 0,1 и 2. The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel without slowing down all along. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем ArduiniIDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

</center>
|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T10:32:21Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. <aligned left> The readings of the sensor are as follows: '''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position над белым полем, ближе к чёрной линии. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is стоит. The robot поворачивается в движении during 0.1 second '''» 2''' means the position на границе белого и черного полей, еще ближе к чёрной линии. The left-hand motor включен на полную мощность (255) и крутится вперед, а правый включен на половине мощности (120) и тоже крутится вперед. The robot едет прямо и немного поворачивается в движении в течение 0,1 секунды '''» 3''' means the position на границе белого и черного полей, уже на чёрной линии. The left-hand and правые motors включены на полную мощность (255) и оба крутятся вперед. The robot едет прямо в течение 0,1 секунды Остальные значения (4,5 и 6) являются зеркальными по отношению к 0,1 и 2. The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel without slowing down all along. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем ArduiniIDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

</center>
|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T10:31:35Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. <left-aligned> The readings of the sensor are as follows: '''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position над белым полем, ближе к чёрной линии. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is стоит. The robot поворачивается в движении during 0.1 second '''» 2''' means the position на границе белого и черного полей, еще ближе к чёрной линии. The left-hand motor включен на полную мощность (255) и крутится вперед, а правый включен на половине мощности (120) и тоже крутится вперед. The robot едет прямо и немного поворачивается в движении в течение 0,1 секунды '''» 3''' means the position на границе белого и черного полей, уже на чёрной линии. The left-hand and правые motors включены на полную мощность (255) и оба крутятся вперед. The robot едет прямо в течение 0,1 секунды Остальные значения (4,5 и 6) являются зеркальными по отношению к 0,1 и 2. The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel without slowing down all along. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем ArduiniIDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

</center>
|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T10:29:33Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <left>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: '''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position над белым полем, ближе к чёрной линии. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is стоит. The robot поворачивается в движении during 0.1 second '''» 2''' means the position на границе белого и черного полей, еще ближе к чёрной линии. The left-hand motor включен на полную мощность (255) и крутится вперед, а правый включен на половине мощности (120) и тоже крутится вперед. The robot едет прямо и немного поворачивается в движении в течение 0,1 секунды '''» 3''' means the position на границе белого и черного полей, уже на чёрной линии. The left-hand and правые motors включены на полную мощность (255) и оба крутятся вперед. The robot едет прямо в течение 0,1 секунды Остальные значения (4,5 и 6) являются зеркальными по отношению к 0,1 и 2. The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel without slowing down all along. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем ArduiniIDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

</center>
|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]

Project ScratchDuinoRobotKit blackline

2018-06-25T10:27:55Z

Elena Vostrikova:

==Name of author (s)==
[[User:Elena Vostrikova]]

==Description of the ROBBO Scratch project ==

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time|| Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 1. ''' The robot uses '''ONE''' numerical value of the line sensor — the AVERAGE between two extreme values, obtained when the sensor is positioned above the white area and above the black line. If the sensor shows a value greater than the average, then the robot turns to the left during 0.1 second and goes forward during 0.1 second. If the sensor shows a value less than the average, then the robot turns to the right during 0.1 second and goes forward during 0.1 second. The trajectory the robot follows is a zigzag. [[File:Zigzag.png]] </center>
|-
|38 seconds
||[[File:Black line analog1 code1.png]]
||USB
||[https://youtu.be/Mvm1UxDkF-A ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||30 seconds
||To turn the robot on and off, two touch sensors are used: analogRead(A3) – right-hand rear sensor — ON, analogRead(A1) — left-hand rear sensor — OFF [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|--
|13 seconds
||The high speed causes numerous errors. At a high speed, the robot cuts off the corners in half the cases.
||Battery 7.4V
||[https://youtu.be/0X8lQPaMAsU ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Project_Black_line_analog1_code1.sb2 Download the sketch]
||11 seconds
||[https://youtu.be/1VJxK9uEw7A Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_zigzag.ino Download the sketch]
|-
|colspan=6| <center>'''Algorithm 2 ''' The robot uses '''SEVEN (FIVE, in case of USB)''' numerical values of the line sensor — these are values between two extreme values, obtained when the sensor is positioned above the white area and above the black line. The readings of the sensor are as follows: '''» 0''' means the position above the white area. Both motors are on and in full swing (255), the left-hand motor is rotating forward, the right-hand motor is rotating backward. The robot turns in place during 0.1 second. '''» 1''' means the position над белым полем, ближе к чёрной линии. The left-hand motor is on and in full swing (255), rotating forward, while the right-hand motor is стоит. The robot поворачивается в движении during 0.1 second '''» 2''' means the position на границе белого и черного полей, еще ближе к чёрной линии. The left-hand motor включен на полную мощность (255) и крутится вперед, а правый включен на половине мощности (120) и тоже крутится вперед. The robot едет прямо и немного поворачивается в движении в течение 0,1 секунды '''» 3''' means the position на границе белого и черного полей, уже на чёрной линии. The left-hand and правые motors включены на полную мощность (255) и оба крутятся вперед. The robot едет прямо в течение 0,1 секунды Остальные значения (4,5 и 6) являются зеркальными по отношению к 0,1 и 2. The trajectory the robot follows is a smooth curve with long tangent sections, so the robot can travel without slowing down all along. [[File:Line.png]] </center>
|-
|25–26 seconds
|ROBBO Scratch хуже, чем ArduiniIDE обрабатывает время движения, поэтому количество диапазонов мы сократили до 5 и упростили движение моторов. Они все время двигаются вперед с разной мощностью
||USB
|| [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
|| 18 seconds
||[https://youtu.be/yjE4zHcG3h4 Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed.ino Download the sketch]
|--
|12 seconds
|| At a high speed, the robot проскакивает поворот in 4 of 5 cases.
||Battery 7.4 V
||It is important to modify the sketch coded for USB, because at a high speed, the in-between values of the sensor cannot be handled. Объединяем все промежуточные значения [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog1-RSalgoritm2.sb2 Download the sketch]
||9.5 seconds
||It is important to immediately modify the sketch, coded for a 5V power supply (USB). Заменить время движения робота в поворотах со 100 до 10 milliseconds. А время движения прямо увеличить до 200 milliseconds. It is necessary because at a high speed, the robot rushes too fast along the path section, where the values of the sensors are changing 
|-
|colspan=6| <center>'''Algorithm 3 ''' The robot uses '''EIGHT''' numerical values of the line sensor — these are values between
two extreme values, obtained when the sensor is positioned above the white area and above the black line. The trajectory the robot follows is a line with long straight sections, and the robot can travel without slowing down all along. [[File:Line-line.png]] </center>
|-
|XX seconds
||
||
||
||
||
|--
|XX seconds
||
||
||
|| 8.5 seconds (рекорд трассы!)
|| [https://youtu.be/GO4fXPLDF1k Arduino IDE Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black_line_analog1_Speed-7-4-var2.ino Download the sketch]
|}

==Описание проезда по чёрной линии с ДВУМЯ датчиками==
Сложную трассу с перекрестками, ответвлениями, "зебрами" и инверсными участками с одним датчиком проехать невозможно. При подключении двух датчиков требуется использовани специальных алгоритмов, которые автоматизируют движение робота.

{| class="standard" border=1

|--

!Trip time ||Sketch||Power supply||ROBBO Scratch||Trip time || Arduino IDE

|--
|-
|colspan=6| <center>'''Algorithm 4. - Релейный регулятор ''' Задача этого алгоритма - удерживать робота в положении "Оба датчика робота находятся над белой линией", т.е. слева и справа от чёрной линии. Если оба датчика попадают на черную линию, the robot останавливается [[File:2line.png]] </center>
|-
|XX seconds
||[[File:Eng-relay-controller-RS.png]]
||USB
||При питании от USB робот останавливается на повороте, т.к. оба датчика оказываются на черной линии [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||
<blockquote>
analog0 = analogRead(A0); // Got a value from the sensor analog1 
analog4 = analogRead(A4); // Got a value from the sensor analog4 
limit = 50; 
time1 = 200; 
power = 255; 
 
//if both sensors "see" white, the robot moves straight: 
if (analog0 < limit && analog4 < limit) { 
move_robbo (power, power, 0, 0, time1); 
} 
//if the left sensor "sees" black, the robot turns to the left: 
if (analog0 > limit && analog4 < limit) { 
move_robbo (0, power, 0, 0, time1); 
} 
//if the right sensor "sees" black, the robot turns to the right: 
if (analog0 < limit && analog4 > limit) { 
move_robbo (power, 0, 0, 0, time1); 
} 

</blockquote>
|--
|'''10 seconds'''
||
||7.4 V
|| When extra powered from the battery, the robot cuts the sharp turning off, because at a speed, the sensors cannot be above the black line both at the same time [https://youtu.be/9rBbZvaQ1FE ROBBO Scratch Video] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Black-Line-USB-analog2_and_analog5-RS.sb2 Download the sketch]
||XX seconds
||[https://youtu.be/Dv97KMJkuF0 Arduino IDE Video]. If the battery is run down, the robot stops at the turn. [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Test_analog0-analog4.ino Download the sketch - sensor readings] [http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay-controller-2-5.ino Download the sketch - простой релейный регулятор + ON/OFF by touch sensors]
|-
|colspan=6| <center>'''Algorithm 5 Пропорциональный регулятор ''' Пропорциональный̆ регулятор is a device that оказывающее управляющее воздействие на объект ''пропорционально'' его отклонению от заданного состояния. Принцип действия П-регулятора основывается на том, что мы находим значение отклонения от заданного состояния, которое назовем '''error''' и обозначим буквой E. Ошибка – это разница между показаниями датчиков линии:
E = S1 – S2. To obtain the value of controlling action '''U''', we multiply this value by a chosen ratio '''kp''': U = kp⋅E. U is the momentum that we have to '''add''' to one motor and '''extract''' from other motor. Thus, the robot will control its position '''itself''' — that is, for turning or taxing to the required direction.

</center>
|-
|XX seconds.
||
||USB
||ROBBO Scratch Video 
||XX seconds
||[http://wiki.robbo.ru/wiki/%D0%A4%D0%B0%D0%B9%D0%BB:Relay_scratchduino.ino Download the sketch]
|-
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 6 Пропорционально-дифференциальный регулятор''' </center>
|-
XX seconds
||
||USB
||
||
||
|--
XX seconds
||
||7.4 V
||ROBBO Scratch Video Download the sketch
|XX seconds
||Arduino IDE Video Download the sketch
|-
|colspan=6| <center>'''Algorithm 7 ПИД-регулятор''' </center>
|-
|XX seconds
||
||USB
||
||
||
|--
|XX seconds
||
||Battery 7.4 V
||ROBBO Scratch Video Download the sketch
||XX seconds
||Arduino IDE Video Download the sketch
|}

[[Category: Project]]
[[Category: ScratchDuino 2016]]
[[Category:Projects_ROBBOKit]]