Worksheet: Follow the Guidelines Introduction to Mobile Robotics > Follow the Guidelines Follow the steps in the

online directions, and answer the questions at the appropriate times. Construct: What is Line Tracking? Check your understanding: 1. What is the robot looking for? The light on the ground; either the dark line or the light line. 2. Which way should it go when it sees light? Why? It should go left when it sees light. This is because it is programmed to go that way. 3. Which way should it go when it sees dark? Why? It should go right when it sees dark. This is because it is programmed to go that way.

Construct: Find the Threshold Record and check: 4. Record the threshold value you calculated. Dark -26 Light- 30 28 is the threshold 5. Classify each of the following light sensor values as light or dark, using the threshold value you calculated for your light sensor. I. 34 - DARK II. 78 - LIGHT III. 51 - LIGHT IV. 40 - DARK Construct: Create your Program

Check your understanding: 6. Sketch either a filled sun (light) or an empty sun (dark) to show which half of the switch block the program will run for each of the following values (if the Switch Block threshold is 45). I. 91 LIGHT II. 36 - LIGHT

III. IV.

5 - DARK 20 - DARK

Construct: Control the Motors Check your understanding: 7. Using your own calculated threshold, describe the motion that the robot will make when the light sensor reads: I. 27- The robot will go left II. 38- The robot will go left III. 91- The robot will go right IV. 45- The robot will go right Contemplate 8. The line tracking behaviour is built by organizing several smaller behaviours to run at certain times. Identify two of these smaller behaviours, and explain what they do in the program and when they are used. One of these small behaviours is when the robot sees light it goes right and it bit forward. In the program they are made to go right and forward as we have programmed the robot to do this. Another one of these small behaviours is when the robot sees dark, it goes left and forward. This is because in order for the robot to go forward, this is the only way to do so. 9. Mele writes this program one afternoon, tests it, and finds that it tracks a line well. However, when she comes back the next morning, it doesnt work! She places her robot on the line and runs the program, but to her surprise, the robot only swing turns to the right in a circle the whole time. Explain what the cause of this problem is, your reasoning for why this is the case, and what needs to be done to fix it. If you dont have any idea what could be wrong, explain instead what steps you would take to help Mele find and fix the issue. For each step, explain how and why you would take that step. A main reason for this is that the sun position has changed in the sky. This is because the position of the sun changes quite often leading to different shades of light in the room every day. This can be preventable by checking the thresh hold daily to make sure it is completely accurate. 10. Imagine that instead of dark tape on a light surface, your classroom has dark surfaces with light tape on them. i. Would the robot be able to follow the line using your same program? No it wouldnt as it is programmed for dark colours to go one direction and for the light colours to go the other. If it is switched around it, the robot, would get confused. ii. Would it behave exactly the same, or slightly differently? Explain. No it wouldnt behave the same as they are switched around. If you didnt program the robot to go that way it would get confused. 11. Now think about the physical placement of your light sensor on the robot.

i. Is the placement of the light sensor important? Yes as if it was facing up, it wouldnt be able to find the line if it was placed on the top of the robot. ii. What happens if you raise or lower the light sensor? It would read it either less or more clearly if you move it up or down. iii. What happens if you place it in the rear of the robot instead of the front, but dont change your program? It wouldnt work as well as it would be if it was placed in front because it would get confused and wouldnt run as well.

Continue: The Flip Side Answer the following: 12. Why does this behaviour track the right side of the line instead of the left? This behaviour track goes on the right side instead of the left line is useful so it doesnt go off of the board. 13. When might this behaviour be useful? This behaviour will be useful so it doesnt go off of the board.