We could improve our wall following code. This time 5 minutes and 20 seconds was enough which seems to be a bit better than 12m40s. (320 sec vs 760 sec) More than 2 times faster with the same walking and turning speed :)
Wall following code was developed in 15 minutes :) First test run was completed in 12 mins and 40 secs. You can see the result in a 4 times faster video.
I have started to develop discovery mode and made few updates:
- on HW level 3 ultrasonic sensors are mounted to detect walls (or other obstacles)
- Arduino data transfer code update to send sensor info back to mobile application
- mobile app. code extension to handle sensor data and initiate turning or stop walking when necessary
From now on we can really use “robot” word because this black thing :) is able to make decisions. Before this time it was “just” an automatic walking machine. Next step can be a new algorithm for proper wall following.
With this update we added a real new capablity. Turning is a base movement for future discovery mode when the robot has to go around in a room and try to avoid obstacles.
Robot typing with dev speed and then faster and faster :) and finally I also tried to do the same with two fingers and with full speed :)
Much better walking with fine tuned parameters: better stability, keeping direction and better base code for further developments (IK based positioning could be easily modified for advanced movements like turning or strafing).
This is rather agony and sliding but please take into account that nothing was fine-tuned, no balancing was used. I just dropped the robot with its new IK walking code on the table :) This is a good starting point and definitely version 0.0…