Embedded Motion Control 2013 Group 7/Recap3

Code strategy for corridor competition:

1. Go straight.
   1. Feedback(comparing distance from the walls).
2. Detect exit (i.e. comparing distance, 1side <1, other side >2).
   1. stop Feedback till point 5.
3. Be in the center of the exit (compare laser data from each side like 45° and -45°, the distance has to be approximately equal.
4. Turn 90° in the side of the exit.
   1. New Feedback ( loop algorithm n.3).
5. Start Algorithm n.1.
6. Stop after 2m.

How?

• Wall following algorithm