Hi Claire, thanks for moving this to Share Your Projects. I might of posted it in the wrong location on purpose . I uploaded the corresponding block diagram, circuit diagram, and state diagram for the video above.
It looks good in the videos, but there are major limitations with real-time position sensor use.
- Long straight aways make the position sensors false positive prone.
- The sensors are always looking forward and cannot sensor while turning.
- The shorter the track, the less time the Zumo has to complete its task
Tesla actually uses position sensor on their cars too. I suspect clever use of sound frequencies.
This project is built upon Zumo libraries and the New Ping library. The reason I used two micro controllers is the Zumo acted funky when an extra timer was used to interface the sensors. It could of been the $5 Inland Arduino UNO. It was slightly annoying to disconnect the serial communication every time I needed to upload code.
Since its completion, this project has become a little more robust and accounts for a variety of situations. By the way, I did this project for a Electrical Engineering senior design. The Zumo was a pretty good (kind of expensive" choice. The double Arduino and acrylic sandwich might be a good design feature for the future Zumo.
I’ll upload another video in the near future.