Diagonals.
On 11th September 2026 we decided to start some diagonal work.
We are using R4D4, a maze solver, which might be a bit wide for diagonal works, but we said we would try it.
The task can be broken down in a number of steps.
STEP1
Just see if the robot can do a simple run along a diagonal
We did this without steering, just making it go straight,
and starting it in the right position.
We adjusted the motor speeds (PWM) to get it to go straight,
and it worked out that the same PWM was good enough.-
STEP 2
Make it do a 135 degree right turn, with the correct inner radius that means it could
start in the bottom horizontal track of the maze:
Step 3
3a Make robot go forward until the wheels are at the very start of the next cell after start
go straight forward, distance according to encoders
3b Move forward 4 cells exactly to be in the correct position for step2
it should steer to be exactly in the centre of the path
it should detect right wall disappearing to correct any inaccuracies in the distance
It can now be started at the start of the maze.
Further work...
- How to avoid the walls in a diagonal straight
- Make the robot slightly slimmer??
-Get 2 more front-facing sensors to help with wall avoidance..
More later as we progress...
