MIE404 Project 3 – WhiffleBot

Third and final project for MIE404: Control Systems at UofT

WhiffleBot is a line following robot made from LEGO Mindstorms components and the MIE443 motion control board.

It’s control algorithm is based on a Proportional-Derivative control algorithm. The “error” it reads is based on the difference in readings between the two IR sensors in the front. It tries to correct based on 1) the error itself (proportional control) and 2) the rate of change of the error (derivative control).

Duration : 0:1:3


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