Project #5 - Wall Follower

This is a hardware, software, and control lab. You will add Ping range sensors to your chassis. Your team must decide whether to use 1 or 2 sensors and determine the sensor geometry (scan/no scan) to provide feedback information adequate for following a piecewise linear wall on the right hand side subject to concave (+90/180 degrees) and convex (-90 degrees) corners. Mount and interface your Ping sensors. Write a stable (negative feedback) control policy for staying within a predefined range to the right-side wall. Implement and evaluate the performance of your control strategy.


Quick Start:
The 5V pin of the PING is connected to the 5V pin on the Arduino, the GND pin is connected to the GND pin, and the SIG (signal) pin is connected to digital pin 7 on the Arduino. Open the Arduino IDE and connect the Arduino to the computers USB port. Upload the following code to Arduino by saving it in a new sketch and clicking the Upload button. The code is based on the Ping example that comes with the Arduino IDE (File->Examples->6.Sensors->Ping).

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