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Presented ByArianna Dubauskas,

Johanan Toth, & Tavier Wright

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Robot is to follow a givenblackline path using the lightsensor with the best time possibleutilizing looping or repeating

programing.

It will display messages indicatingits position whether it is straight,

turning left, turning right, or lost.

Once at the end of the path orinstructed stop, the robot willbrake ulitizing the touch sensor.

Goals of the Program

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Types of Errors

Changes Light environment

Changes in the light intensity of the line (room lightlevel, robot shade, )

Other Common Error : Unreliable sensor values

Inaccurate surface

Loosing the line

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PID Control

P Proportional Band = 100/gain

I Integral = 1/reset (units of time)

D Derivative = rate (future change)

PID stands for a proportionalintegralderivative

http://opt/scribd/conversion/tmp/scratch6726/l%20%22Phttp://opt/scribd/conversion/tmp/scratch6726/l%20%22Ihttp://opt/scribd/conversion/tmp/scratch6726/l%20%22Dhttp://opt/scribd/conversion/tmp/scratch6726/l%20%22Dhttp://opt/scribd/conversion/tmp/scratch6726/l%20%22Ihttp://opt/scribd/conversion/tmp/scratch6726/l%20%22P

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PID Control

Error term of PID equation: how fastare we drifting from the center?

Integral term of PID equation: how farare we from centerline?

Derivative term of PID equation: is thedrift rate accelerating or decelerating?

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PID Control

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PID Control

It is a controller, and it is a control loopfeedback mechanism that we used todetermine the "error" values as the difference

between a measured process variable and adesired setpoint. The proportional valuedetermines the reaction to the current error, theintegral value determines the reaction based on

the sum of recent errors, and the derivativevalue determines the reaction based on the rateat which the error has been changing.

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PID Control

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PID Control

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Logic of Program

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Gather Data

Graphs determining threhold senistive of light,

value for sensor

Determing tape size

Working speeds

Controling the light envirnment

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Video