PLF-block with two coefficients

EV3 PLF-block for LEGO front-wheel steered robots. The block has two relaxation coefficients – one for steering to the left and one for steering to the right. The aim is to make the robot follow a line smoothly when the color sensor is positioned closer to one of the wheels.

The block has the following parameters from left to right:

  • Maximum angle – the maximum steering angle of the front wheels.
  • Relaxation coefficient left – the relaxation coefficient regulates how sharply the robot responds to error, turning left. The default value is 1.
  • Relaxation coefficient right – the relaxation coefficient regulates how sharply the robot responds to error, turning right. The default value is 1.
  • Value on black – the value detected by the light sensor when it is on the line.
  • Value on white – the value detected by the light sensor when it is outside the line.

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  • #ph0id3
  • 09 Mar 2018