kaytwenty / sumocode Goto Github PK

Summary:
The current code for the sumo bot lacks support for an ultrasonic sensor, which limits its ability to detect and track obstacles. This issue aims to add ultrasonic sensor support to the existing codebase.

Proposed Changes:

1. Connect the ultrasonic sensor to appropriate pins on the Arduino board.
2. Implement functions to trigger the sensor, measure the echo response, and calculate the distance.
3. Modify the code to detect obstacles based on the measured distance.
4. Implement obstacle tracking functionality to follow the target using the sensor data.
5. Add debugging functionality to print the distance measured by the sensor.

Additional Considerations:

• The code should account for the specific pins used for the ultrasonic sensor and adjust accordingly.
• The desired distance from the obstacle should be configurable.

Issue: Motor Speed Imbalance and Ramping

Description:
Currently, our sumo bot utilizes two motors, but we have noticed a significant power difference between them. To address this imbalance, we decided to remove the jumpers on the L298N motor driver and manually control the motor speeds through our source code. However, we encountered a problem where one motor's speed is inadvertently limited due to our speed control implementation.

Current Speed Control Implementation:
To control the motor speeds, we have hardcoded the speed values in our source code using the analogWrite() function. Here is the snippet of code responsible for setting the motor speeds:

analogWrite(ena, 255);  // LEFT
analogWrite(enb, 180);  // RIGHT

Issue Identification:
After investigating the problem further, we have determined that the motor speed imbalance stems from the ramping mechanism we have implemented. The difference in ramping times between the left and right motors is causing the speed limitation on the right motor.

Next Steps:
To resolve the motor speed imbalance and address the ramping issue, we will conduct further testing and experimentation. We will explore the proposed solutions and evaluate their effectiveness in achieving balanced motor speeds. Our goal is to optimize the sumo bot's performance and ensure equal power distribution between the motors.