Datasheet

Chapter 4: Navigation Tips · Page 185
√ Add the GOTO Look_About command to the end of the Initialization routine.
' -----[ Initialization ]------------------------------------------
GOSUB Calibrate_Qtis ' Determine b/w threshold
GOTO Look_About ' <--- Add Start mid search pattern
√ Run the modified program and verify that it makes the SumoBot look around
before moving forward.
There are lots of questions to consider and test when designing a search pattern. For
example, is it better to look around right after turning away from the tawara, or is it better
to get away from it so that your SumoBot isn't at a disadvantage? You will have to
answer these and other questions through experimentation.
One very important thing to keep in mind when designing a search pattern is how far
your IR detectors can realistically see? While the infrared detectors might be good at
seeing a white wall a meter or more away, a black SumoBot opponent isn't nearly as
visible. One thing that will help is to measure the maximum reliable detection distance of
the other SumoBot at the frequency you are using. Then, make a plot like the one shown
in Figure 4-14. It will make it easier designing a path for your SumoBot to see as much
as possible of the ring with the least travel time.
Figure 4-14
IR Detection Range
During Search
Pattern
√ Design, program, and test your own SumoBot Search Pattern.