Line Follow with fault tolerance

[douglas_sm]

First, sorry for the bad english.


I'm doing a project for graduation.
A Line Follow robot with fault tolerance.

For that I am using two physical LightSensors inside a class named "VirtualLightSensor".
The program only communicates with the virtual sensor.
The virtual sensor is responsible for identify and address the faults.
If both sensors are operating, then returned is the average reading of two.

Look here:

http://www.youtube.com/watch?v=m99oKAnIVAs

[esmetaman]

Nice idea to use 2 light sensors to improve the logic.

Cheers

[douglas_sm]

new video:

http://www.youtube.com/watch?v=Mix-79NQeO0

[roger]

Hi Douglas,
With 2 light sensors, have you considered mounting them side by side.? Then you could use the two sensor readings to calculate an estimated distance from the center of the line and use this as input to the pilot.steer() for proportional control. It might give smoother tracking.
Roger