org.MARS.robot.control.LineFollowingBrain

Package	org.MARS.robot.control
Class	public class LineFollowingBrain
Inheritance	LineFollowingBrain AbstractElectronicDevice
Implements	IController

The Line Following Brain is a programmable controller device. It is programmed to read the inputs from the two line sensors and follow the edge of the line.
The brain uses the following algorithm to follow a line:

whenever neither of the sensors detects a line
- if the robot had never detected a line, go straight
- if the left sensor was following the line before, turn left
- if the right sensor was following the line before, turn right
whenever both sensors detect a line
- if it is the first time the robot found the line, turn left
- if the left sensor was following the line before, turn right
- if the right sensor was following the line before, turn left
whenever on of the sensors detects a line and another doesn't move straight

IO Port configuration:
0 and 1 - inputs from sensors (0 - left, 1 - right)
2 through 5 - outputs (must be connected directly to the locomotion)

See also

IOPort
Robot
ILocomotion

Public Properties

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	Property		Defined by
		numberOfPorts : Number Get the number of IO ports in the device.	AbstractElectronicDevice

Protected Properties

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	Property		Defined by
		_ports : Array	AbstractElectronicDevice

Public Methods

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	Method		Defined by
		LineFollowingBrain() Create a Line Following Brain controller	LineFollowingBrain
		getPort(portNumber:Number):IOPort Get a certain IO port by its number	AbstractElectronicDevice
		step():void A function that is called on every step of the physics engine.	LineFollowingBrain

Protected Methods

	Method		Defined by
		leftWheelForward():void	LineFollowingBrain
		leftWheelReverse():void	LineFollowingBrain
		rightWheelForward():void	LineFollowingBrain
		rightWheelReverse():void	LineFollowingBrain

Public Constants

	Constant		Defined by
		LEFT_SENSOR_PORT : Number = 0 [static]	LineFollowingBrain
		RIGHT_SENSOR_PORT : Number = 1 [static]	LineFollowingBrain

Constructor detail

LineFollowingBrain

()

constructor

public function LineFollowingBrain()

Create a Line Following Brain controller

Method detail

leftWheelForward

()

method

protected function leftWheelForward():void

leftWheelReverse

()

method

protected function leftWheelReverse():void

rightWheelForward

()

method

protected function rightWheelForward():void

rightWheelReverse

()

method

protected function rightWheelReverse():void

step

()

method

public function step():void

A function that is called on every step of the physics engine. It reads the sensors' input and reverses the motors whenever needed.

Constant detail

LEFT_SENSOR_PORT

constant

public static const LEFT_SENSOR_PORT:Number = 0

RIGHT_SENSOR_PORT

constant

public static const RIGHT_SENSOR_PORT:Number = 1

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