Follow That Line Part 2

1. What happened when you tried to increase the speed with the original light sensor positioning?
    -The sensor worked just fine with the original position.

2. What is the reason the robot starts looping around instead of tracking the line when it tries to go too fast?
    - The robot is going too fast to sense the line, so it's solution is to go in a circle, like it's programmed, until it can sense the line that it's looking for.

3. Suggest one possible way to fix the “overshooting” problem at high speeds.
    -One way to fix this problem is to lower the sensor so it can have a better chance of sensing the line. 

4. Where are the two turning centers located?
    -The two turning centers are the wheels and the center of the robot. The wheels are located on the sides of the robot, and the center of the robot is located on Mars.

5. Why does the robot have to track in reverse after the changes?
    - The light sensor needs to be in front of the robot. That is, when the robot is traveling the light sensor needs to be ahead of the rest of the robot.

 6. Explain why high-speed line tracking works better with the revised configuration than the original configuration.
    - When the robot is going at high-speed, the light sensor can not sense the line if it is in the back. The sensor needs to be in the front (front being in between the two big wheels) because at high speed the smaller wheels does a lot of shaking and the sensor wouldn't be able to read the line with being moved around so much.

7. Compare the performance of the old and new line trackers.
a. Build a line for the robot to track on a flat surface.
b. With the light sensor on the front of the robot and the robot moving forward, find the highest motor power that will allow the robot to successfully track the entire line. Time how long it takes (in seconds) for the robot to track the line.
c. Now switch the sensor to the back of the robot and find the highest motor power that will allow it to track the entire line backward. Measure how long it takes to track with this configuration.
c. Express the new robot’s line tracking speed as a percentage of the original (front-facing) robot’s line tracking speed.  Use the formula in figure 1.



8. Identify the two main behaviors in the revised program (the two inside the switch block).
    -Two main behaviors are a swing turn and the ability to sense the line.
9. Ordinarily, it’s pretty clear which side of the robot is its left, and which is its right. However, things might not be so clear when the robot is traveling backwards. Explain why, and propose a convention (a set of rules that everyone will use) for describing “left” and “right” when talking about a robot that will be line tracking part of the time, but moving normally the rest of the time.
    - The NXT brick, when I'm looking at it and I can see all the buttons and the screen, that is the front. Port B is connected to the right wheel, and I can see the cord that connects it, and it is on the right side of the robot. If everyone just goes by what wheel is the right wheel and which way the brick's screen is facing there would be less confusion in the world. However, when the robot is moving that's when the front and the back get confusing.