Line Tracking Basic Lesson ROBOTC（行跟踪ROBOTC基本教训）.pdfVIP

Sensing Line Tracking Basic Lesson Now that you’re familiar with a few of the key NXT sensors, let’s do something a little more interesting with them. This lesson will show you how to use the Light Sensor to track a line. The trick to getting the robot to move along the line is to always aim toward the edge of the line. For this example, we’ll use the left edge. Track the left side The Light Sensor will be positioned and programmed to track the left side of the black line. Put yourself in the robot’s position. If the only dark surface is the line, then seeing dark means you are on top of it, and the edge would be to your left. So you move toward it by going forward and left by performing a Swing Turn. Light Sensor sees dark Swing turn left The robot is over the dark surface. The left Therefore, turn left toward the edge of the line. edge of the line must be to the robot’s left. ® © Carnegie Mellon Robotics Academy / For use with LEGO MINDSTORMS® Education NXT software and base set 9797 Line Tracking •  Sensing Line Tracking Basic (cont.) The only time we should see Light is when we’ve driven off the line to the left. If we need to get to the left edge, it’s always a right turn to get back to line. Make the forward-right turn as long as you’re seeing Light, and eventually, you’re back to seeing Dark! Light Sensor sees light