Robotics with the Boe-Bot text v2.2

Chapter 6: Light Sensitive Navigation with Photoresistors · Page 219
PAUSE 20
RETURN
Your Turn – Adjusting the Performance and Changing the Behavior
You can adjust the program’s performance by adjusting the scale factor term in this
constant declaration:
' Average Scale factor
LeftThreshold CON LeftBright + LeftAmbient / 2 * 5 / 8
RightThreshold CON RightBright + RightAmbient / 2 * 5 / 8
If you change the scale factor from
5
/
8
to
1
/
2
, it will make the Boe-Bot less sensitive to the
flashlight, which may (or may not) lead to improved flashlight control.
√ Try different scale factors, such as
1
/
4
,
1
/
2
,
1
/
3
,
2
/
3
, and
3
/
4
and make notes about
any differences in the way the Boe-Bot responded to the flashlight beam.
By modifying the
IF…THEN statement in the example program, you can change the Boe-
Bot’s behavior so that it tries to get the light out of its eyes.
√ Modify the IF…THEN statement so that the Boe-Bot backs up when it detects the
flashlight beam with both photoresistor circuits and turns away if it detects the
flashlight beam with only one of its photoresistor circuits.
ACTIVITY #6: ROAMING TOWARD THE LIGHT
The example program in this activity can be used to guide the Boe-Bot through exiting a
fairly dark room toward a doorway that’s letting in brighter light. It also allows for much
better control over the Boe-Bot’s roaming by casting shadows over the photoresistors
with your hand.
Readjusting the Photoresistors
This activity works best if the photoresistors’ light collecting surfaces are pointing
upwards and outwards.