Constructor
new TwoSensorFollow(forwardVel, rotationKp, rotationKd)
The constructor of the Two Sensor Follow algorithm. This initialises
the PD parameters and the velocity.
Parameters:
| Name | Type | Description |
|---|---|---|
forwardVel |
number | The forward velocity of the robot when going in a straight line |
rotationKp |
number | The proportional term for the PD controller. |
rotationKd |
(number) - The derivative term for the PD controller. |
Methods
follow(robotData) → {Robot.MovementCommands}
The follow method that overrides the virtual follow method. For this
algorithm the difference between the two sensors is used as the error
term for the PD controller. The greater the error the faster the robot
turns. If the error is greater than 0.35 the robot slows down so that
it can turn without skipping over the line.
Parameters:
| Name | Type | Description |
|---|---|---|
robotData |
Robot.RobotTelemetryData | Values for all the sensors that the robot can read. This includes the position, velocity, bearing and light sensors. |
- Source:
Returns:
- The commands for the robot effectors.