As the code was originally
implemented, the robot could only handle turns that were greater than or equal
to 90 degrees. We decided to modify the code so the robot could follow acute
angles as small 25 degrees.
What is does, using plain english:
- When the robot come to a turn, move forward a bit to get the sensor off of the tape.
- Increase the power to the outside wheel, allowing for a wider turning radius.
- Continue to turn until only the center sensor detects the black tape
- Continue on with the normal line following
Sections:
Source Code:
Java Documentation