Presented By Arianna Dubauskas,

Johanan Toth, & Tavier Wright

 Goals of the Program
Robot is to follow a given
blackline path using the light
sensor with the best time possible
utilizing looping or repeating
programing.

It will display messages indicating

its position whether it is straight,
turning left, turning right, or lost.

Once at the end of the path or

instructed stop, the robot will
brake ulitizing the touch sensor.
 Types of Errors
Changes Light environment
Changes in the light intensity of the line (room light
level, robot shade, …)
Other Common Error :
 Unreliable sensor values
 Inaccurate surface

 Loosing the line…

 PID Control
PID stands for a proportional–integral–
derivative
P Proportional Band = 100/gain
I Integral = 1/reset (units of time)
D Derivative = rate (future change)
 PID Control

Error term of PID equation: how fast

are we drifting from the center?

Integral term of PID equation: how far

are we from centerline?

Derivative term of PID equation: is the

drift rate accelerating or decelerating?
PID Control
 PID Control
It is a controller, and it is a control loop
feedback mechanism that we used to
determine the "error" values as the difference
between a measured process variable and a
desired setpoint. The proportional value
determines the reaction to the current error, the
integral value determines the reaction based on
the sum of recent errors, and the derivative
value determines the reaction based on the rate
at which the error has been changing.
PID Control
PID Control
Logic of Program
 Gather Data
● Graphs – determining threhold senistive of light,
value for sensor
● Determing tape size
● Working speeds
● Controling the light envirnment
●
Video