Connect them as described on of the VEX Microcontroller and VEXnet Joystick User Guide.Ģ. Use the Motor Controller 29 cables to establish the connection between the motor leads and the pins on the VEX Microcontroller. Connect the left DC motor and right DC motor to motor pins 4 and 3 respectively on the VEX microcontroller. The motors are installed on the robot with the motor shafts facing outwards to enable connecting the wheels to the shafts. The two DC motors drive the left and right set of wheels on the robot platform. The comparison outputs are multiplied by weights to give a unique value for each combination of the outputs as illustrated in the figure below.ġ. The comparison output will be 0 for the line trackers above the white surface. If the line tracker reading is above the threshold, the sensor is above the black surface and hence, the comparison output is 1. In order to differentiate between the black and white surface using the line tracker readings, a cutoff value/threshold that lies approximately between the black and white surface readings is chosen. When the robot is directly above the black line, the center line tracker reading will be higher than the left and right line tracker readings. As the line trackers are mounted facing downwards, the value returned by them depends on the light intensity reflected from the surface. The value increases with decrease in light intensity. The VEX line tracker provides a value from 0 to 4095 based on the light intensity. The line trackers are mounted on the robot such that they face downwards towards the ground and the spacing between them is such that when the robot is placed on the black line, the center line tracker is above the black line and the other two line trackers are above the white surface. The algorithm used for the line following function of the robot is explained below:
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